Vascular interventional surgical robot and delivery method

Abstract

The invention relates to the technical field of medical surgical machinery, and provides a vascular interventional surgical robot and a delivery method, the vascular interventional surgical robot comprises: a first telescopic delivery mechanism; the first delivery box assembly is arranged at one end of the first telescopic delivery mechanism; the second delivery box assembly is arranged at the other end of the first telescopic delivery mechanism, and the second delivery box assembly is used for being connected with a blood vessel sheath implanted into a blood vessel in advance so as to deliver an interventional instrument into the blood vessel sheath; wherein the first delivery box assembly and the second delivery box assembly are used for being connected with the interventional instrument, and the first telescopic delivery mechanism can enable the first delivery box assembly to move back and forth relative to the second delivery box assembly so as to deliver or withdraw the interventional instrument. The problem that in the catheter delivery process of an existing vascular intervention surgical robot, a catheter is bent when encountering resistance can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical surgical machinery, and in particular to a vascular interventional surgical robot and a delivery method. Background Art

[0002] Vascular interventional surgery is a surgical procedure in which interventional doctors operate puncture needles, catheters, guidewires, balloons, stents and other interventional devices under the guidance of medical imaging equipment, and deliver the designated devices along the human blood vessels to the corresponding lesion site after percutaneous puncture for treatment. As a minimally invasive treatment method, vascular interventional surgery has been widely used in the interventional treatment of cardiovascular diseases, cerebrovascular diseases, peripheral vascular diseases and tumors.

[0003] In the existing surgical model, interventional doctors wear lead suits weighing 20 to 30 kilograms and stand beside the operating table for a long time to operate interventional instruments such as catheters and guidewires. The lead suits cannot completely block X-ray radiation, and their arms and heads are directly exposed to X-rays. Interventional doctors work in an X-ray radiation environment for many years, which can easily lead to high incidence of occupational diseases such as cataracts, spinal curvature, and brain tumors. Interventional doctors use robotic systems to control the delivery of interventional instruments such as catheters and guidewires, which can effectively improve doctors' working conditions, reduce physical exertion and reduce occupational hazards, allowing doctors to fully focus on the surgical treatment itself, bringing better surgical treatment results to patients.

[0004] During the process of delivering the catheter by the existing vascular interventional surgical robot, there is still a section of the catheter in an under-positioned state between the delivery outlet of the surgical robot and the vascular sheath fixed on the human body (the vascular sheath is implanted into the human blood vessel during surgery and fixed to the human wrist, and the catheter must enter the vascular sheath and then into the human blood vessel). When the catheter encounters resistance during delivery, although the end of the catheter moves toward the patient, the catheter itself is relatively soft and will bend during the delivery process, resulting in the catheter tip not moving in the human blood vessel. Although the degree of bending of the catheter can be limited by an exoskeleton, the catheter bending cannot be completely eliminated, and the structure is complex, and the delivery accuracy of the catheter tip is not high. Summary of the invention

[0005] The purpose of the present invention is to provide a vascular interventional surgery robot and a delivery method to solve the problem that during the delivery of the catheter by the existing vascular interventional surgery robot, the catheter encounters resistance and bends.

[0006] The above technical objectives of the present invention are mainly achieved through the following technical solutions: In a first aspect, the present invention provides a vascular interventional surgery robot, comprising: a first telescopic delivery mechanism; a first delivery box assembly disposed at one end of the first telescopic delivery mechanism; A second delivery box assembly is disposed at the other end of the first telescopic delivery mechanism, and the second delivery box assembly is used to connect to a vascular sheath pre-implanted in a blood vessel to deliver an interventional device into the vascular sheath; The first delivery box assembly and the second delivery box assembly are used to connect interventional instruments and can deliver or withdraw the interventional instruments. The first telescopic delivery mechanism can move the first delivery box assembly forward and backward relative to the second delivery box assembly to deliver or withdraw the interventional instruments.

[0007] In a preferred embodiment of the present invention, the vascular interventional surgery robot further includes: a third delivery box assembly, rotatably connected to one end of the first telescopic delivery mechanism where the second delivery box assembly is provided, the third delivery box assembly being located between the first delivery box assembly and the second delivery box assembly; The third delivery box assembly is used to connect with the interventional instrument and can deliver or withdraw the interventional instrument. The first telescopic delivery mechanism can move the first delivery box assembly forward and backward relative to the third delivery box assembly to deliver or withdraw the interventional instrument.

[0008] In a preferred embodiment of the present invention, the outlet of the second delivery box assembly is connected to a hose connector, and the second delivery box assembly is connected to the vascular sheath via the hose connector.

[0009] In a preferred embodiment of the present invention, the rotation axis of the third delivery box assembly is parallel to the telescopic axis of the first telescopic delivery mechanism.

[0010] In a preferred embodiment of the present invention, the first delivery box assembly has a first delivery channel, the second delivery box assembly has a second delivery channel, and the third delivery box assembly has a third delivery channel. The first delivery channel and the second delivery channel are located on the same straight line, and the third delivery box assembly can be rotated until the third delivery channel and the first delivery channel are located on the same straight line; the axis of each delivery channel is parallel to the telescopic axis of the first telescopic delivery mechanism.

[0011] In a preferred embodiment of the present invention, the first telescopic delivery mechanism includes a plurality of telescopic parts that are telescopically connected. When each of the telescopic parts is in an extended state, the telescopic part closest to the first delivery box assembly is a final telescopic part, and the telescopic part closest to the third delivery box assembly is a primary telescopic part.

[0012] In a preferred embodiment of the present invention, the end of the first-stage telescopic member is connected to a first rotation joint, and the first rotation joint has a first fixed part and a first rotating part that are rotatably connected to each other, the first fixed part is connected to the first-stage telescopic member, and the first rotating part is connected to the third delivery box assembly.

[0013] In a preferred embodiment of the present invention, the second delivery box assembly is connected to the first fixing portion of the first rotation joint via a fixing seat.

[0014] In a preferred embodiment of the present invention, the second delivery box assembly is connected to the first rotation joint via a second rotation joint; The second rotating joint comprises a second fixed portion and a second rotating portion which are rotatably connected, the second fixed portion is connected to the first rotating portion, and the second rotating portion is connected to the second delivery box assembly.

[0015] In a preferred embodiment of the present invention, the second delivery box assembly comprises: a second delivery box mounting plate connected to the second rotating portion of the second rotating joint; a second delivery box driving mechanism, disposed on one side of the second delivery box mounting plate; The second delivery box is detachably connected to the other side of the second delivery box mounting plate, and the second delivery box driving mechanism is drivingly connected to the second delivery box.

[0016] In a preferred embodiment of the present invention, a first magnetic block, a positioning protrusion and a first power output connector are provided on the mounting plate of the second delivery box, the second delivery box is magnetically connected to the first magnetic block, the second delivery box is matched and plugged into the positioning protrusion, the second delivery box driving mechanism is drive-connected to the second delivery wheel group in the second delivery box through the first power output connector, and the second delivery wheel group is used to clamp the interventional instrument and deliver or withdraw the interventional instrument.

[0017] In a preferred embodiment of the present invention, the third delivery box assembly comprises: A third delivery box mounting plate is connected to the first rotating portion of the first rotating joint, and the first rotating joint can drive the third delivery box mounting plate to rotate around the telescopic axis of the first telescopic delivery mechanism; A third delivery box driving mechanism, disposed on one side of the third delivery box mounting plate; The third delivery box is detachably connected to the other side of the third delivery box mounting plate, and the third delivery box driving mechanism is drivingly connected to the third delivery box.

[0018] In a preferred embodiment of the present invention, the third delivery box mounting plate is provided with a second magnetic block, a positioning hole and a second power output connector, the third delivery box is magnetically connected to the second magnetic block, the third delivery box is matched and plugged into the positioning hole, and the third delivery box driving mechanism is drivingly connected to the third delivery box via the second power output connector.

[0019] In a preferred embodiment of the present invention, the third delivery box comprises: case; A third delivery wheel set is disposed in the housing, the second power output connector is connected to the third delivery wheel set, and the third delivery wheel set is used to clamp the interventional instrument and deliver or withdraw the interventional instrument; A first Y-valve mounting groove is provided in the housing; The first Y valve is detachably mounted in the first Y valve mounting groove, the inlet of the first Y valve faces the third delivery wheel assembly, the outlet of the first Y valve faces the second delivery box assembly, and the first Y valve is used to fix the tail end of the interventional instrument.

[0020] In a preferred embodiment of the present invention, the first delivery box assembly comprises: a first delivery wheel set; a first delivery box driving mechanism, drivingly connected to the first delivery wheel set; Second Y valve installation slot; The second Y valve is detachably mounted in the second Y valve mounting groove, the inlet of the second Y valve faces the first delivery wheel assembly, the outlet of the second Y valve faces the second delivery box assembly, and the second Y valve is used to fix the tail end of the interventional instrument.

[0021] In a preferred embodiment of the present invention, the vascular interventional surgery robot further includes: a second telescopic delivery mechanism, wherein the second delivery box assembly and the third delivery box assembly are respectively disposed at two ends of the second telescopic delivery mechanism; The second telescopic delivery mechanism can move the third delivery box assembly forward and backward relative to the second delivery box assembly to deliver or withdraw the interventional instrument.

[0022] In a preferred embodiment of the present invention, the telescopic axis of the first telescopic delivery mechanism is parallel to the telescopic axis of the second telescopic delivery mechanism.

[0023] In a second aspect, the present invention further provides a delivery method, wherein the delivery method uses the vascular interventional surgical robot as described above, and the delivery method is used to deliver a rapid exchange interventional device, and the delivery method comprises the following steps: Step S1: the first telescopic delivery mechanism is extended to a predetermined length, and the second delivery box assembly is connected to the vascular sheath; Step S2: installing a Y-valve connected to the tail end of the catheter on the first delivery box assembly, and installing the head end of the catheter on the second delivery wheel assembly in the second delivery box assembly; Step S3: delivering a guide wire using the first delivery box assembly, so that the guide wire is inserted into the catheter and extends out of the tip of the catheter; Step S4: delivering the catheter and the guidewire by contracting the first telescopic delivery mechanism and rotating the second delivery wheel group; Step S5: delivering the guide wire using the first delivery box assembly.

[0024] In a third aspect, the present invention also provides another delivery method, wherein the delivery method uses the vascular interventional surgical robot as described above, and the delivery method is used to deliver a coaxial interventional instrument, and the delivery method comprises the following steps: Step S01: the first telescopic delivery mechanism is extended to a predetermined length, the second delivery box assembly is connected to the vascular sheath, and the third delivery box assembly is rotated to be staggered with the first delivery box assembly; Step S02: installing a first Y-valve connected to the tail end of the catheter on the first delivery box assembly, and placing the head end of the catheter on the second delivery wheel assembly in the second delivery box assembly; Step S03: delivering a guide wire using the first delivery box assembly, so that the guide wire is inserted into the catheter and extends out of the tip of the catheter; Step S04: delivering the catheter and the guidewire by contracting the first telescopic delivery mechanism and rotating the second delivery wheel group; Step S05: using the first delivery box assembly to withdraw the guide wire so that the guide wire is pulled out of the catheter; Step S06: maintaining the axial position of the catheter, removing the first Y-valve, and using the first telescopic delivery mechanism to extend and withdraw the first delivery box assembly; Step S07: rotating the third delivery box assembly to make it coplanar with the first delivery box assembly, and installing the first Y-valve in the third delivery box assembly; Step S08: installing a second Y-valve connected to the tail end of the intermediate conduit on the first delivery box assembly, and placing the head end of the intermediate conduit on the third delivery wheel assembly in the third delivery box assembly; Step S09: delivering the guide wire by using the first delivery box assembly, so that the guide wire passes through the intermediate catheter and the catheter in sequence and extends out of the head end of the catheter; Step S10: delivering the intermediate catheter by contracting the first telescopic delivery mechanism and rotating the third delivery wheel assembly, and simultaneously withdrawing the guidewire by the first delivery box assembly to maintain the axial position of the guidewire until the head end of the intermediate catheter is located between the head end of the guidewire and the head end of the catheter; Step S11: delivering the intermediate catheter and the guide wire by contracting the first telescopic delivery mechanism.

[0025] Compared with the prior art, the technical solution of the present invention has the following characteristics and advantages: The vascular interventional surgical robot described in the present invention has a second delivery box assembly at the end of the first telescopic delivery mechanism. The second delivery box assembly is used to be connected to a vascular sheath pre-implanted in a blood vessel, and an interventional instrument (usually a catheter) is delivered directly into the vascular sheath through the second delivery box assembly. The interventional instrument at the rear end of the vascular sheath is limited by the rollers on the delivery box assembly, thereby avoiding leaving a section of unrestricted interventional instrument on the rear side of the tail of the vascular sheath, thereby avoiding bending of the interventional instrument during the delivery process.

[0026] The vascular interventional surgical robot of the present invention is provided with a third delivery box assembly for cooperating with the first delivery box assembly and the second delivery box assembly. The delivery of the coaxial interventional instrument is achieved through the synergistic effect of the first delivery box assembly and the third delivery box assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings: The accompanying drawings described herein are only for explanation purposes and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the various components in the figures are only schematic, used to help understand the present invention, and are not specifically limited to the shapes and proportional dimensions of the various components of the present invention. Those skilled in the art can select various possible shapes and proportional dimensions to implement the present invention according to the teachings of the present invention.

[0028] Figure 1 This is a schematic structural diagram of a first embodiment of the vascular interventional surgery robot according to the present invention; Figure 2 This is a schematic structural diagram of a third embodiment of the vascular interventional surgery robot according to the present invention; Figure 3 This is another structural schematic diagram of the third embodiment of the vascular interventional surgery robot according to the present invention; Figure 4 It is a partial structural schematic diagram of the second delivery box component of the present invention; Figure 5 for Figure 4 A partial cross-sectional view of Figure 6 It is a structural schematic diagram of the second delivery box mounting plate of the present invention; Figure 7 is a schematic structural diagram of the second delivery box of the present invention; Figure 8 It is a structural schematic diagram of the first telescopic delivery mechanism of the present invention; Fig. 9 It is a partial structural schematic diagram of the second delivery box component of the present invention; Fig.10 This is a structural schematic diagram of implementation mode 5 of the vascular interventional surgery robot according to the present invention.

[0029] Description of reference numerals: 10. First telescopic delivery mechanism; 11. Final telescopic member; 12. First telescopic member; 13. First fixed seat; 131. First end plate; 14. First rotating joint; 141. First fixed part; 142. First rotating part; 143. Second end plate; 15. Second fixed seat; 16. Second rotating joint; 161. Second fixed part; 162. Second rotating part; 163. Third end plate; 164. Fourth end plate; 17. Flange; 20. First delivery box assembly; 21. First delivery wheel assembly; 22. Second Y valve installation slot; 23. Second Y valve; 30. Second delivery box assembly; 31. Second delivery box mounting plate; 311. First magnetic block; 312. Positioning protrusion; 313. First power output connector; 32. Second delivery box driving mechanism; 33. Second delivery box; 331. Second delivery wheel set; 332. Positioning groove; 333. Magnetic interface; 334. Power input connector; 34. Hose connector; 40. third delivery box assembly; 41. third delivery box mounting plate; 411. second magnetic block; 412. positioning hole; 413. second power output connector; 42. third delivery box driving mechanism; 43. third delivery box; 431. third delivery wheel set; 432. first Y valve mounting slot; 433. first Y valve; 50. a second telescopic delivery mechanism; 60. Robotic arm. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0031] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only embodiment.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items. Implementation Method 1

[0033] like Figure 1 As shown, the present invention provides a vascular interventional surgical robot for delivering a rapid exchange type interventional device (catheter), and the vascular interventional surgical robot comprises a first telescopic delivery mechanism 10, a first delivery box assembly 20 and a second delivery box assembly 30. The first delivery box assembly 20 is arranged at one end of the first telescopic delivery mechanism 10; the second delivery box assembly 30 is arranged at the other end of the first telescopic delivery mechanism 10, and the second delivery box assembly 30 is used to connect with a vascular sheath pre-implanted in a blood vessel to deliver an interventional device into the vascular sheath; the first delivery box assembly 20 and the second delivery box assembly 30 are used to connect the interventional device, and the first telescopic delivery mechanism 10 can enable the first delivery box assembly 20 to move forward and backward relative to the second delivery box assembly 30 to deliver or withdraw the interventional device.

[0034] The vascular interventional surgical robot described in the present invention is provided with a second delivery box assembly 30 at the end of the first telescopic delivery mechanism 10. The second delivery box assembly 30 is used to be connected to a vascular sheath pre-implanted in a blood vessel, and an interventional instrument (usually a catheter) is directly delivered into the vascular sheath through the second delivery box assembly 30. The interventional instrument at the rear end of the vascular sheath is limited by the rollers on the delivery box assembly, so as to avoid leaving a section of unrestricted interventional instrument on the rear side of the tail of the vascular sheath, thereby preventing the interventional instrument from bending during the delivery process.

[0035] The specific structure of each part of the vascular intervention surgery robot in this embodiment, as well as the position and connection relationship between the parts will be described in detail below.

[0036] like Figure 1 and Figure 8 As shown, the vascular interventional surgery robot of the present invention includes a first telescopic delivery mechanism 10. The first telescopic delivery mechanism 10 can adopt an existing telescopic structure to achieve the approach or distance between the first delivery box assembly 20 and the second delivery box assembly 30 by extending or shortening itself in a straight line direction. The specific structure and delivery method of the first telescopic delivery mechanism 10 are not limited here; for example, the first telescopic delivery mechanism 10 in this embodiment can adopt the telescopic delivery mechanism used in the Chinese patent with publication number CN117814923A, publication date April 5, 2024, and titled "Vascular Interventional Surgery Robot and Delivery Method".

[0037] In this embodiment, if Figure 8 As shown, the first telescopic delivery mechanism 10 includes a plurality of telescopic parts connected in telescopic manner. When each telescopic part is in an extended state, the telescopic part closest to the first delivery box assembly 20 is the final telescopic part 11, and the telescopic part closest to the third delivery box assembly 40 is the primary telescopic part 12.

[0038] like Figure 1 and Figure 8 As shown, the tail end of the final telescopic member 11 is provided with a first delivery box assembly 20, which can clamp, deliver (forward or backward) and rotate the interventional instrument. The first delivery box assembly 20 can be implemented by any existing delivery device that can be used to deliver interventional instruments (catheters and guidewires), and its specific structure and delivery method are not limited here. For example, the first delivery box assembly 20 can adopt the interventional surgery delivery device in the Chinese patent with publication number CN113893441A, publication date January 7, 2022, and name "An interventional surgery delivery device"; the first delivery box assembly 20 can also adopt the interventional surgery delivery device in the Chinese patent with announcement number CN220714019U, announcement date April 5, 2024, and name "Interventional surgery instrument delivery device and surgical robot".

[0039] like Figure 3 As shown, the first delivery box assembly 20 and the tail end of the final telescopic member 11 can be axially relatively fixedly mounted on the robot arm 60 .

[0040] In this embodiment, if Figure 3As shown, the first delivery box assembly 20 includes a first delivery wheel group 21, a first delivery box driving mechanism, a second Y-valve mounting groove 22 and a second Y-valve 23; the first delivery box driving mechanism (not shown) is drivingly connected to the first delivery wheel group 21; the second Y-valve 23 is detachably mounted in the second Y-valve mounting groove 22, the inlet of the second Y-valve 23 faces the first delivery wheel group 21, and the outlet of the second Y-valve 23 faces the second delivery box assembly 30, and the second Y-valve 23 is used to fix the tail end of the interventional instrument.

[0041] Specifically, Figure 3 As shown, the first delivery wheel group 21 is used to deliver the guide wire, which includes a driving roller and a driven roller twice the number of the driving rollers, so as to form multiple channels between the driving rollers and the driven rollers. The driven roller in the first delivery wheel group 21 is an eccentric wheel, which can clamp the slender interventional instrument (usually a guide wire) by rotating, and the cooperation of the driving roller and the driven roller can deliver the guide wire. The outlet direction of the second Y valve 23 is the same as the delivery outlet direction of the first delivery box assembly 20, and both are parallel to the telescopic direction of the first telescopic delivery mechanism 10.

[0042] like Figure 1 and Figure 8 As shown, the head end of the primary telescopic member 12 is provided with a second delivery box assembly 30, which can be connected to the tail end of the vascular sheath to assist the first delivery box assembly 20 in delivering the interventional device (catheter). Before the delivery operation begins, the head end of the catheter can be fixed in the second delivery box assembly 30 and can directly enter the vascular sheath through the second delivery box 33. During the delivery process of the catheter, the two ends of the part of the catheter that has not entered the vascular sheath are respectively limited by the first delivery box assembly 20 and the second delivery box assembly 30, thereby preventing the part of the catheter from bending due to resistance during the delivery process.

[0043] like Figure 1 As shown, the second delivery box assembly 30 is mounted on the head end of the first telescopic member 12 through the first fixing seat 13. Figures 4 to 7 As shown, the second delivery box assembly 30 includes a second delivery box mounting plate 31, a second delivery box driving mechanism 32, and a second delivery box 33. The second delivery box driving mechanism 32 is arranged on one side of the second delivery box mounting plate 31; the second delivery box 33 is detachably connected to the other side of the second delivery box mounting plate 31, and the second delivery box driving mechanism 32 is drivingly connected to the second delivery box 33.

[0044] Specifically, Figure 1 and Figure 4As shown, the second delivery box mounting plate 31 is connected to the first fixing seat 13 through the first end plate 131. The first fixing seat 13 is a solid shaft, and the first fixing seat 13 is coaxially arranged with the telescopic axis of the first telescopic delivery mechanism 10. The first end plate 131 extends in a direction perpendicular to the telescopic axis of the first telescopic delivery mechanism 10, so that the second delivery box mounting plate 31 and the first telescopic delivery mechanism 10 are staggered in the axial direction.

[0045] Further, such as Figures 4 to 7 As shown, the second delivery box mounting plate 31 is provided with a first magnetic block 311, a positioning protrusion 312 and a first power output connector 313, the second delivery box 33 is magnetically connected to the first magnetic block 311, the second delivery box 33 is matched and plugged with the positioning protrusion 312, the second delivery box driving mechanism 32 is drive-connected with the second delivery wheel group 331 in the second delivery box 33 through the first power output connector 313, and the second delivery wheel group 331 is used to clamp the interventional instrument and deliver or withdraw the interventional instrument.

[0046] A quick-release structure is designed between the second delivery box 33 and the second delivery box mounting plate 31, which can be quickly disassembled and assembled through snap-fit ​​positioning and fixed by magnetic attraction, making it convenient to use and operate and quickly replace, thereby improving the efficiency of robot-assisted surgery.

[0047] The second delivery box driving mechanism 32 includes a motor and a gear transmission chain connected to the motor, and the rotation of the motor is transmitted to the first power output joint 313 through the gear transmission chain to drive the first power output joint 313 to rotate. The number of the first power output joint 313 is the same as the number of rollers in the second delivery wheel set 331.

[0048] like Figure 3 , Figure 6 and Figure 7 As shown, the second delivery box 33 has a box body, a second delivery wheel set 331 is arranged in the box body, and the second delivery wheel set 331 includes two rollers arranged side by side. A power input connector 334 connected to the rollers is arranged at the bottom of the box body, and the two can rotate synchronously in the box body, and the power input connector 334 can be aligned and snap-fitted with the first power output connector 313. A magnetic suction interface 333 is also arranged at the bottom of the box body, and the magnetic suction interface 333 is used to be magnetically connected with the first magnetic suction block 311. A plurality of positioning grooves 332 are provided on the side wall of the box body, and the positioning grooves 332 are used to match and plug with the positioning protrusions 312.

[0049] When the second delivery box 33 is installed on the second delivery box mounting plate 31 , the positioning protrusion 312 is inserted into the positioning groove 332 , the first magnetic block 311 is magnetically connected to the magnetic interface 333 , and the first power output connector 313 is snap-fitted to the power input connector 334 .

[0050] Better, such as Figure 1 As shown, the outlet of the second delivery box assembly 30 is connected to a hose connector 34, and the second delivery box assembly 30 is connected to the vascular sheath through the hose connector 34. During the delivery process, the interventional device passes through the second delivery box assembly 30, and then passes through the hose connector 34 and the vascular sheath to enter the blood vessel. Implementation Method 2

[0051] The present invention provides a delivery method, which uses the vascular interventional surgery robot described in the first embodiment. The delivery method is used to deliver a rapid exchange interventional instrument (catheter) in some relatively simple surgeries. The delivery method comprises the following steps: Step S1: the first telescopic delivery mechanism 10 is extended to a predetermined length, and the second delivery box assembly 30 is connected to the vascular sheath; Step S2: installing the Y-valve connected to the tail end of the catheter on the first delivery box assembly 20, and installing the head end of the catheter on the second delivery wheel assembly 331 in the second delivery box assembly 30; Step S3: delivering the guide wire using the first delivery box assembly 20 so that the guide wire is inserted into the catheter and extends out of the tip of the catheter; Step S4: delivering the catheter and the guidewire by contracting the first telescopic delivery mechanism 10 and rotating the second delivery wheel set 331; Step S5 : delivering the guide wire using the first delivery box assembly 20 .

[0052] The specific operation process of each step of the above delivery method will be described in detail below.

[0053] In step S1, the device is extended, and the first delivery box assembly 20 is moved away from the second delivery box assembly 30 and moved to the extreme position through the extension of the first telescopic delivery mechanism 10; then the tail end of the vascular sheath is fixed to the hose connector 34 at the delivery outlet of the second delivery box assembly 30.

[0054] In step S2, the catheter is installed: the tail end of the catheter is connected to the Y valve, and the Y valve connected with the catheter is installed in the Y valve installation groove in the first delivery box assembly 20; at the same time, the head end of the catheter is installed between the two rollers of the second delivery wheel group 331 in the second delivery box assembly 30.

[0055] In step S3, the guide wire is installed between the rollers of the first delivery wheel group 21 in the first delivery box assembly 20, and the tip of the guide wire enters the interior of the Y valve; then the guide wire is delivered into the catheter by the rotation of the first delivery wheel group 21 and moves forward in the catheter until the tip of the guide wire extends a distance from the tip of the catheter. The tip of the guide wire has an elbow, and the guide wire can be rotated to guide the subsequent catheter and guide wire delivery process.

[0056] In step S4, after the guidewire extends a certain distance out of the head end of the catheter, the first delivery wheel group 21 is closed to stop delivering the guidewire alone forward; thereafter, the first telescopic delivery mechanism 10 contracts, driving the first delivery box assembly 20 to move toward the second delivery box assembly 30, and at the same time, the second delivery wheel group 331 on the second delivery box assembly 30 is opened to deliver the catheter forward, thereby achieving simultaneous forward delivery of the catheter and the guidewire. During the delivery process, the axial relative positions of the catheter and the guidewire remain basically unchanged.

[0057] In step S5, when the catheter reaches the surgical position expected by the doctor, the first telescopic delivery mechanism 10 stops contracting, stops delivering the catheter, starts the first delivery wheel group 21, and continues to deliver the guidewire forward alone until the tip of the guidewire reaches the surgical position expected by the doctor and stops delivering the guidewire.

[0058] Preferably, in step S3, multiple guide wires can be installed between the rollers of the first delivery wheel group 21 in the first delivery box assembly 20, and a guide wire can be delivered by the first delivery wheel group 21 to extend a certain distance out of the head end of the catheter for guidance, and then in step S5, multiple different guide wires are delivered to multiple intended surgical locations respectively by the first delivery wheel group 21. Implementation Method 3

[0059] like Figure 2 and Figure 3 As shown, the present invention provides another vascular interventional surgical robot for delivering rapid exchange type interventional instruments, the vascular interventional surgical robot comprises a first telescopic delivery mechanism 10, a first delivery box assembly 20, a second delivery box assembly 30, and a third delivery box assembly 40. Among them, the first delivery box assembly 20 is arranged at one end of the first telescopic delivery mechanism 10; the second delivery box assembly 30 is arranged at the other end of the first telescopic delivery mechanism 10, and the second delivery box assembly 30 is used to connect with a vascular sheath pre-implanted in a blood vessel to deliver an interventional instrument into the vascular sheath; the third delivery box assembly 40 is rotatably connected to the end of the first telescopic delivery mechanism 10 where the second delivery box assembly 30 is arranged, and the third delivery box assembly 40 is located between the first delivery box assembly 20 and the second delivery box assembly 30; the first delivery box assembly 20, the second delivery box assembly 30 and the third delivery box assembly 40 are used to connect the interventional instruments, and can deliver or withdraw the interventional instruments, and the first telescopic delivery mechanism 10 can make the first delivery box assembly 20 move forward and backward relative to the second delivery box assembly 30 and the third delivery box assembly 40 to deliver or withdraw the interventional instruments.

[0060] The vascular interventional surgical robot described in the present invention is provided with a second delivery box assembly 30 at the end of the first telescopic delivery mechanism 10. The second delivery box assembly 30 is used to be connected to a vascular sheath pre-implanted in a blood vessel, and an interventional instrument (usually a catheter) is directly delivered into the vascular sheath through the second delivery box assembly 30. The interventional instrument at the rear end of the vascular sheath is limited by the rollers on the delivery box assembly, so as to avoid leaving a section of unrestricted interventional instrument on the rear side of the tail of the vascular sheath, thereby preventing the interventional instrument from bending during the delivery process.

[0061] The vascular interventional surgical robot described in the present invention is provided with a third delivery box assembly 40 for cooperating with the first delivery box assembly 20 and the second delivery box assembly 30. Through the synergistic effect of the first delivery box assembly 20 and the third delivery box assembly 40, the delivery of a coaxial interventional instrument (intermediate catheter) is achieved.

[0062] The specific structure of each part of the vascular intervention surgery robot described in this embodiment, as well as the position and connection relationship between the parts will be described in detail below.

[0063] The structures of the first telescopic delivery mechanism 10, the first delivery box assembly 20 and the second delivery box assembly 30 have been described in the first embodiment and will not be described here. The following only describes the differences between this embodiment and the first embodiment, that is, the location, connection relationship and specific structure of the third delivery box assembly 40 are described in detail.

[0064] like Figure 2 and Figure 3 As shown, the second delivery box assembly 30 and the third delivery box assembly 40 are both arranged at the head end of the primary telescopic member 12 in the first telescopic delivery mechanism 10, and the third delivery box assembly 40 is arranged closer to the first delivery box assembly 20 in the axial direction. The third delivery box assembly 40 can rotate relative to the first telescopic delivery mechanism 10, thereby changing the arrangement direction of the third delivery box assembly 40.

[0065] The rotation axis of the third delivery box assembly 40 is parallel to the telescopic axis of the first telescopic delivery mechanism 10 ; preferably, the rotation axis of the third delivery box assembly 40 coincides with the telescopic axis of the first telescopic delivery mechanism 10 .

[0066] The first delivery box assembly 20 has a first delivery channel, the second delivery box assembly 30 has a second delivery channel, and the third delivery box assembly 40 has a third delivery channel. The first delivery channel and the second delivery channel are located on the same straight line. The third delivery box assembly 40 can be rotated until the third delivery channel and the first delivery channel are located on the same straight line; the axes of each delivery channel are parallel to the telescopic axis of the first telescopic delivery mechanism 10.

[0067] In order to realize the rotation of the third delivery box assembly 40, as shown in FIG. Figure 2 and Fig. 9 As shown, the head end of the primary telescopic member 12 is connected to the first rotating joint 14 through a flange 17, and the rotating axis of the first rotating joint 14 coincides with the telescopic axis of the first telescopic delivery mechanism 10. The first rotating joint 14 has a first fixed portion 141 and a first rotating portion 142 that are rotatably connected, the first fixed portion 141 is connected to the primary telescopic member 12, and the first rotating portion 142 is connected to the third delivery box assembly 40 through a second end plate 143. The motor in the first rotating joint 14 can drive the first rotating portion 142 to rotate relative to the first fixed portion 141, thereby driving the third delivery box assembly 40 to rotate.

[0068] During the delivery of the interventional device, it is necessary to keep the positions of the first delivery box assembly 20 and the second delivery box assembly 30 relatively unchanged, that is, when the third delivery box 43 rotates, the second delivery box assembly 30 is kept stationary. This can be achieved through the following two solutions: In a feasible embodiment, the second delivery box assembly 30 is connected to the first fixing portion 141 of the first rotating joint 14 through the second fixing seat 15. Figure 2 , Figure 4 and Fig. 9 As shown, the second fixed seat 15 is a solid shaft, and a third end plate 163 and a fourth end plate 164 are respectively provided at the front and rear ends. The third end plate 163 is connected to the first fixed portion 141 in the first rotating joint 14, and the fourth end plate 164 is similar in structure to the first end plate 131 mentioned above, and is used to connect the second delivery box mounting plate 31.

[0069] In another possible embodiment, if Figure 2 and Figure 5 and Fig. 9 As shown, the second delivery box assembly 30 is connected to the first rotation joint 14 through the second rotation joint 16. The second rotation joint 16 has a second fixed portion 161 and a second rotation portion 162 that are rotatably connected. The second fixed portion 161 is connected to the first rotation portion 142, and the second rotation portion 162 is connected to the second delivery box assembly 30. A third end plate 163 is provided on the second fixed portion 161 of the second rotation joint 16, and a fourth end plate 164 is provided on the second rotation portion 162 of the second rotation joint 16. The third end plate 163 is connected to the first rotation portion 142 in the first rotation seat. The fourth end plate 164 has a similar structure to the first end plate 131 described above and is used to connect the second delivery box mounting plate 31. The motor in the second rotation joint 16 can drive the second rotation portion 162 to rotate relative to the second fixed portion 161, thereby driving the second delivery box assembly 30 to rotate.

[0070] In this embodiment, the motor in the first rotary joint 14 and the motor in the second rotary joint 16 can rotate in opposite directions, thereby achieving the rotation of the third delivery box assembly 40 while maintaining the second delivery box assembly 30 stationary. At the same time, the second rotary joint 16 can be arranged to facilitate the adjustment of the direction of the second delivery box assembly 30, thereby improving the flexibility of operation.

[0071] like Figure 8 and Fig. 9 As shown, the third delivery box assembly 40 includes a third delivery box mounting plate 41, a third delivery box driving mechanism 42 and a third delivery box 43: the third delivery box mounting plate 41 is connected to the first rotating portion 142 of the first rotating joint 14, and the first rotating joint 14 can drive the third delivery box mounting plate 41 to rotate around the telescopic axis of the first telescopic delivery mechanism 10; the third delivery box driving mechanism 42 is arranged on one side of the third delivery box mounting plate 41; the third delivery box 43 is detachably connected to the other side of the third delivery box mounting plate 41, and the third delivery box driving mechanism 42 is drivingly connected to the third delivery box 43.

[0072] Specifically, Fig. 9 As shown, the third delivery box mounting plate 41 is connected to the first rotating part 142 of the first rotating joint 14 through the second end plate 143, and the second end plate 143 extends in a direction perpendicular to the telescopic axis of the first telescopic delivery mechanism 10, so that the third delivery box mounting plate 41 and the first telescopic delivery mechanism 10 are staggered in the axial direction. The third delivery box mounting plate 41 is provided with a second magnetic block 411, a positioning hole 412 and a second power output connector 413, the third delivery box 43 is magnetically connected to the second magnetic block 411, the third delivery box 43 is matched and plugged with the positioning hole 412, and the third delivery box driving mechanism 42 is drivingly connected to the third delivery box 43 through the second power output connector 413.

[0073] A quick-release structure is designed between the third delivery box 43 and the third delivery box mounting plate 41, which can be quickly disassembled and assembled by snap-fitting and fixed by magnetic attraction, making operation and replacement convenient and improving the efficiency of robot-assisted surgery.

[0074] The third delivery box driving mechanism 42 includes a motor and a gear transmission chain connected to the motor, and the rotation of the motor is transmitted to the second power output joint 413 through the gear transmission chain to drive the second power output joint 413 to rotate. The number of the second power output joints 413 is the same as the number of rollers in the third delivery wheel set 431 in the third delivery box 43.

[0075] The third delivery box 43 can be implemented by any existing delivery device that can be used to deliver interventional instruments (catheters and guidewires), and its specific structure and delivery method are not limited here. For example, the third delivery box 43 can adopt the coaxial vascular interventional surgical instrument delivery box in the Chinese patent with publication number CN117838326A, publication date April 9, 2024, and titled "Coaxial Vascular Interventional Surgery Instrument Delivery Box, Delivery System and Delivery Method".

[0076] In this embodiment, if Figure 3 As shown, the third delivery box 43 includes: a shell, a third delivery wheel group 431, a first Y-valve installation groove 432 and a first Y-valve 433; the third delivery wheel group 431 is arranged in the shell, the second power output connector 413 is connected to the third delivery wheel group 431, and the third delivery wheel group 431 is used to clamp the interventional instrument and deliver or withdraw the interventional instrument; the first Y-valve installation groove 432 is arranged in the shell; the first Y-valve 433 is detachably installed in the first Y-valve installation groove 432, the inlet of the first Y-valve 433 faces the third delivery wheel group 431, and the outlet of the first Y-valve 433 faces the second delivery box assembly 30, and the first Y-valve 433 is used to fix the tail end of the interventional instrument. Implementation Method 4

[0077] The present invention also provides another delivery method, which uses the vascular interventional surgery robot described in Embodiment 3. The delivery method is used to deliver a coaxial interventional device (intermediate catheter), and the delivery method includes the following steps: Step S01: the first telescopic delivery mechanism 10 is extended to a predetermined length, the second delivery box assembly 30 is connected to the vascular sheath, and the third delivery box assembly 40 is rotated to be offset from the first delivery box assembly 20; Step S02: installing the first Y-valve 433 connected to the tail end of the catheter on the first delivery box assembly 20, and installing the head end of the catheter on the second delivery wheel assembly 331 in the second delivery box assembly 30; Step S03: delivering the guide wire using the first delivery box assembly 20, so that the guide wire is inserted into the catheter and extends out of the tip of the catheter; Step S04: delivering the catheter and the guidewire by contracting the first telescopic delivery mechanism 10 and rotating the second delivery wheel set 331; Step S05: using the first delivery box assembly 20 to withdraw the guidewire so that the guidewire is pulled out of the catheter; Step S06: maintaining the axial position of the catheter, removing the first Y-valve 433, and using the first telescopic delivery mechanism 10 to extend and withdraw the first delivery box assembly 20; Step S07: rotating the third delivery box assembly 40 to make it coplanar with the first delivery box assembly 20, and installing the first Y-valve 433 on the third delivery wheel assembly 431 in the third delivery box assembly 40; Step S08: installing the second Y-valve 23 connected to the tail end of the intermediate conduit on the first delivery box assembly 20, and installing the head end of the intermediate conduit in the third delivery box assembly 40; Step S09: delivering the guide wire using the first delivery box assembly 20, so that the guide wire passes through the middle catheter and the rear catheter in sequence and extends out of the tip of the catheter; Step S10: delivering the intermediate catheter by contracting the first telescopic delivery mechanism 10 and rotating the third delivery wheel assembly 431, and withdrawing the guidewire by the first delivery box assembly 20 to maintain the axial position of the guidewire until the tip end of the intermediate catheter is located between the tip end of the guidewire and the tip end of the catheter; Step S11: Deliver the intermediate catheter and the guidewire by contracting the first telescopic delivery mechanism 10 .

[0078] The specific operation process of each step of the above delivery method will be described in detail below.

[0079] In step S01, the device is extended, and the first delivery box assembly 20 is moved in a direction away from the second delivery box assembly 30 and moved to the extreme position through the extension of the first telescopic delivery mechanism 10; then the tail end of the vascular sheath is fixed to the hose connector 34 at the delivery outlet of the second delivery box assembly 30; and then the third delivery box assembly 40 needs to be driven to rotate through the first rotary joint 14, so that the third delivery box assembly 40 is staggered with the first delivery box assembly 20.

[0080] In step S02, the catheter is installed: the tail end of the catheter is connected to the first Y-valve 433, and the first Y-valve 433 connected with the catheter is installed in the second Y-valve installation groove 22 in the first delivery box assembly 20; at the same time, the head end of the catheter is installed between the two rollers of the second delivery wheel group 331 in the second delivery box assembly 30.

[0081] In step S03, the guide wire is installed between the rollers of the first delivery wheel group 21 in the first delivery box assembly 20, and the tip of the guide wire enters the first Y valve 433; then the guide wire is delivered into the catheter by the rotation of the first delivery wheel group 21 and moves forward in the catheter until the tip of the guide wire extends a distance from the tip of the catheter. The tip of the guide wire has an elbow, and the guide wire can be rotated to guide the subsequent catheter and guide wire delivery process.

[0082] In step S04, after the guidewire extends a certain distance out of the head end of the catheter, the first delivery wheel group 21 is closed and the guidewire is stopped from being delivered forward alone; thereafter, the first telescopic delivery mechanism 10 contracts, driving the first delivery box assembly 20 to move toward the second delivery box assembly 30, and at the same time, the second delivery wheel group 331 is turned on to deliver the catheter forward, thereby achieving simultaneous forward delivery of the catheter and the guidewire. During the delivery process, the axial relative positions of the catheter and the guidewire remain substantially unchanged.

[0083] In step S05, when the catheter in step S04 reaches the surgical position expected by the doctor, the first telescopic delivery mechanism 10 stops contracting, stops delivering the catheter, starts the first delivery wheel group 21, withdraws the guidewire, and pulls the guidewire out of the catheter.

[0084] In step S06, after the guide wire is pulled out, the first Y-valve 433 is first taken out from the second Y-valve installation groove 22 in the first delivery box assembly 20, and then the first telescopic delivery mechanism 10 is extended to move the first delivery box assembly 20 away from the second delivery box assembly 30 to make way for the third delivery box assembly 40.

[0085] In step S07, after the first delivery box assembly 20 in step S06 is retracted into place, the third delivery box assembly 40 is driven to rotate through the first rotary joint 14, so that the third delivery box assembly 40 is coplanar with the first delivery box assembly 20, that is, the delivery outlet of the first delivery box assembly 20 and the delivery outlet of the third delivery box assembly 40 are located on the same straight line; after the third delivery box assembly 40 is rotated into place, the first Y-valve 433 is installed in the first Y-valve installation groove 432 of the third delivery box 43.

[0086] In step S08, the intermediate conduit is installed: the tail end of the intermediate conduit is connected to the second Y-valve 23, and the second Y-valve 23 connected with the intermediate conduit is installed in the second Y-valve installation groove 22 in the first delivery box assembly 20; at the same time, the head end of the intermediate conduit is installed between the two rollers of the third delivery wheel group 431 in the third delivery box assembly 40.

[0087] In step S09, the guide wire is installed and delivered: the guide wire is installed between the rollers of the first delivery wheel group 21 in the first delivery box assembly 20, and the head end of the guide wire is allowed to enter the second Y-valve 23; then the guide wire is delivered into the intermediate conduit through the rotation of the first delivery wheel group 21 and moves forward in the intermediate conduit, and the guide wire enters the conduit after passing through the first Y-valve 433, and the guide wire is continuously delivered forward until the head end of the guide wire extends a certain distance from the head end of the conduit.

[0088] In step S10, the intermediate catheter is delivered: the first telescopic delivery mechanism 10 contracts, driving the first delivery box assembly 20 to move toward the third delivery box assembly 40, and at the same time, the third delivery wheel assembly 431 on the third delivery box assembly 40 is opened to deliver the intermediate catheter forward. In order to ensure the axial position of the guidewire, the first delivery wheel assembly 21 in the first delivery box assembly 20 is opened to withdraw the guidewire while the first telescopic delivery mechanism 10 contracts. During the delivery process, the guidewire is located in the intermediate catheter, and the intermediate catheter is located in the catheter; the intermediate catheter is continuously delivered forward until the tip of the intermediate catheter is located between the tip of the guidewire and the tip of the catheter.

[0089] In step S11, the intermediate catheter and the guidewire continue to be delivered. After the intermediate catheter in step S10 is delivered into place, the first delivery wheel group 21 in the first delivery box assembly 20 is closed, the first telescopic delivery mechanism 10 continues to contract, and the third delivery wheel group 431 on the third delivery box assembly 40 remains open, thereby achieving simultaneous delivery of the intermediate catheter and the guidewire until the guidewire and the intermediate catheter reach the surgical position expected by the doctor, and the delivery is stopped.

[0090] The vascular interventional surgery robot in the third embodiment can be used not only to complete the delivery method in the fourth embodiment, but also to complete the delivery method in the second embodiment when the third delivery box assembly 40 is not used (rotated to a staggered position). Implementation Method 5

[0091] like Fig.10 As shown, the present invention also provides a vascular interventional surgical robot for delivering rapid exchange type interventional instruments, the vascular interventional surgical robot comprising a first telescopic delivery mechanism 10, a second telescopic delivery mechanism 50, a first delivery box assembly 20, a second delivery box assembly 30, and a third delivery box assembly 40. The first delivery box assembly 20, the second delivery box assembly 30, and the third delivery box assembly 40 are used to connect interventional instruments and deliver or withdraw interventional instruments; the first delivery box assembly 20 and the third delivery box assembly 40 are respectively arranged at both ends of the first telescopic delivery mechanism 10, and the first telescopic delivery mechanism 10 can make the first delivery box assembly 20 move forward and backward relative to the third delivery box assembly 40 to deliver or withdraw interventional instruments; the third delivery box assembly 40 and the second delivery box assembly 30 are respectively arranged at both ends of the second telescopic delivery mechanism 50, and the second telescopic delivery mechanism 50 can make the third delivery box assembly 40 move forward and backward relative to the second delivery box assembly 30 to deliver or withdraw interventional instruments.

[0092] The telescopic axis of the first telescopic delivery mechanism 10 is parallel to the telescopic axis of the second telescopic delivery mechanism 50; preferably, the two coincide.

[0093] In this embodiment, a second telescopic delivery mechanism 50 is provided between the second delivery box assembly 30 and the third delivery box assembly 40, so that the second delivery box assembly 30 and the third delivery box assembly 40 can be moved closer to or farther away from each other, thereby enabling the axial position of the second delivery box assembly 30 to be flexibly controlled, thereby facilitating the connection of the second delivery box assembly 30 with the vascular sheath.

[0094] The structures of the first delivery box assembly 20, the second delivery box assembly 30, the third delivery box assembly 40 and the first telescopic delivery mechanism 10 have been described above and will not be repeated here. The second telescopic delivery mechanism 50 can adopt an existing telescopic structure to achieve the approach or distance between the second delivery box assembly 30 and the third delivery box assembly 40 by extending or shortening itself in a straight line. The second telescopic delivery mechanism 50 can adopt the same structure as the first telescopic delivery mechanism 10.

[0095] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A vascular interventional surgery robot, characterized in that: include: a first telescopic delivery mechanism (10); A first delivery box assembly (20) is arranged at one end of the first telescopic delivery mechanism (10); A second delivery box assembly (30) is arranged at the other end of the first telescopic delivery mechanism (10), the second delivery box assembly (30) being used to be connected to a vascular sheath pre-implanted in a blood vessel so as to deliver an interventional device into the vascular sheath; The first delivery box assembly (20) and the second delivery box assembly (30) are used to connect the interventional instrument, and the first telescopic delivery mechanism (10) can enable the first delivery box assembly (20) to move forward and backward relative to the second delivery box assembly (30) to deliver or withdraw the interventional instrument.

2. The vascular interventional surgery robot according to claim 1, characterized in that: The vascular interventional surgery robot further comprises: a third delivery box assembly (40) rotatably disposed at one end of the first telescopic delivery mechanism (10) where the second delivery box assembly (30) is disposed, the third delivery box assembly (40) being located between the first delivery box assembly (20) and the second delivery box assembly (30); The third delivery box assembly (40) is used to connect the interventional instrument, and the first telescopic delivery mechanism (10) can enable the first delivery box assembly (20) to move forward and backward relative to the third delivery box assembly (40) to deliver or withdraw the interventional instrument.

3. The vascular interventional surgery robot according to claim 1 or 2, characterized in that: The outlet of the second delivery box assembly (30) is connected to a hose connector (34), and the second delivery box assembly (30) is connected to the vascular sheath via the hose connector (34).

4. The vascular interventional surgery robot according to claim 2, characterized in that: The rotation axis of the third delivery box assembly (40) is parallel to the telescopic axis of the first telescopic delivery mechanism (10).

5. The vascular interventional surgery robot according to claim 2, characterized in that: The first delivery box assembly (20) has a first delivery channel, the second delivery box assembly (30) has a second delivery channel, and the third delivery box assembly (40) has a third delivery channel. The first delivery channel and the second delivery channel are located on the same straight line, and the third delivery box assembly (40) can be rotated until the third delivery channel and the first delivery channel are located on the same straight line; the axes of the delivery channels are parallel to the telescopic axis of the first telescopic delivery mechanism (10).

6. The vascular interventional surgery robot according to claim 2, characterized in that: The first telescopic delivery mechanism (10) comprises a plurality of telescopic parts that are telescopically connected, and when each of the telescopic parts is in an extended state, the telescopic part adjacent to the first delivery box assembly (20) is a final telescopic part (11), and the telescopic part adjacent to the third delivery box assembly (40) is a primary telescopic part (12).

7. The vascular interventional surgery robot according to claim 6, characterized in that: The end of the primary telescopic member (12) is connected to a first rotating joint (14), the first rotating joint (14) comprising a first fixed portion (141) and a first rotating portion (142) which are rotatably connected to each other, the first fixed portion (141) being connected to the primary telescopic member (12), and the first rotating portion (142) being connected to the third delivery box assembly (40).

8. The vascular interventional surgery robot according to claim 7, characterized in that: The second delivery box assembly (30) is connected to the first fixing portion (141) of the first rotating joint (14) via a fixing seat.

9. The vascular interventional surgery robot according to claim 7, characterized in that: The second delivery box assembly (30) is connected to the first rotation joint (14) via a second rotation joint (16); The second rotating joint (16) comprises a second fixed portion (161) and a second rotating portion (162) which are rotatably connected to each other, the second fixed portion (161) being connected to the first rotating portion (142), and the second rotating portion (162) being connected to the second delivery box assembly (30).

10. The vascular interventional surgery robot according to claim 9, characterized in that: The second delivery box assembly (30) comprises: A second delivery box mounting plate (31) connected to the second rotating portion (162) of the second rotating joint (16); A second delivery box driving mechanism (32) is arranged on one side of the second delivery box mounting plate (31); The second delivery box (33) is detachably connected to the other side of the second delivery box mounting plate (31), and the second delivery box driving mechanism (32) is drivingly connected to the second delivery box (33).

11. The vascular interventional surgery robot according to claim 10, characterized in that: The second delivery box mounting plate (31) is provided with a first magnetic block (311), a positioning protrusion (312) and a first power output connector (313); the second delivery box (33) is magnetically connected to the first magnetic block (311); the second delivery box (33) is matched and plugged with the positioning protrusion (312); the second delivery box driving mechanism (32) is drivingly connected to a second delivery wheel set (331) in the second delivery box (33) via the first power output connector (313); the second delivery wheel set (331) is used to clamp the interventional instrument and deliver or withdraw the interventional instrument.

12. The vascular interventional surgery robot according to claim 7, characterized in that: The third delivery box assembly (40) comprises: A third delivery box mounting plate (41) is connected to the first rotating portion (142) of the first rotating joint (14), and the first rotating joint (14) can drive the third delivery box mounting plate (41) to rotate around the telescopic axis of the first telescopic delivery mechanism (10); A third delivery box driving mechanism (42) is arranged on one side of the third delivery box mounting plate (41); The third delivery box (43) is detachably connected to the other side of the third delivery box mounting plate (41), and the third delivery box driving mechanism (42) is drivingly connected to the third delivery box (43).

13. The vascular interventional surgery robot according to claim 12, characterized in that: The third delivery box mounting plate (41) is provided with a second magnetic block (411), a positioning hole (412) and a second power output connector (413); the third delivery box (43) is magnetically connected to the second magnetic block (411); the third delivery box (43) is matched and plugged into the positioning hole (412); and the third delivery box driving mechanism (42) is drivingly connected to the third delivery box (43) via the second power output connector (413).

14. The vascular interventional surgery robot according to claim 13, characterized in that: The third delivery box (43) comprises: case; A third delivery wheel set (431) is arranged in the housing, the second power output joint (413) is connected to the third delivery wheel set (431), and the third delivery wheel set (431) is used to clamp the interventional instrument and deliver or withdraw the interventional instrument; A first Y-valve installation groove (432) is provided in the housing; The first Y-valve (433) is detachably mounted in the first Y-valve mounting groove (432), the inlet of the first Y-valve (433) faces the third delivery wheel assembly (431), and the outlet of the first Y-valve (433) faces the second delivery box assembly (30), and the first Y-valve (433) is used to fix the tail end of the interventional instrument.

15. The vascular interventional surgery robot according to claim 1, characterized in that: The first delivery box assembly (20) comprises: A first delivery wheel set (21); A first delivery box driving mechanism, drivingly connected to the first delivery wheel set (21); Second Y-valve mounting groove (22); The second Y-valve (23) is detachably mounted in the second Y-valve mounting groove (22), the inlet of the second Y-valve (23) faces the first delivery wheel assembly (21), and the outlet of the second Y-valve (23) faces the second delivery box assembly (30), and the second Y-valve (23) is used to fix the tail end of the interventional instrument.

16. The vascular interventional surgery robot according to claim 2, characterized in that: The vascular interventional surgery robot further comprises: A second telescopic delivery mechanism (50), wherein the second delivery box assembly (30) and the third delivery box assembly (40) are respectively arranged at two ends of the second telescopic delivery mechanism (50); The second telescopic delivery mechanism (50) can enable the third delivery box assembly (40) to move forward and backward relative to the second delivery box assembly (30) to deliver or withdraw the interventional instrument.

17. The vascular interventional surgery robot according to claim 16, characterized in that: The telescopic axis of the first telescopic delivery mechanism (10) is parallel to the telescopic axis of the second telescopic delivery mechanism (50).

18. A delivery method, characterized in that: The delivery method is implemented by using the vascular interventional surgery robot described in claim 1, and the delivery method comprises: Installing a Y-valve connected to the tail end of the catheter on the first delivery box assembly (20), and installing the head end of the catheter in the second delivery box assembly (30); Using the first delivery box assembly (20) to deliver a guide wire, so that the guide wire is inserted into the catheter and extends out of the tip of the catheter; Delivering the catheter and the guidewire by contracting the first telescopic delivery mechanism (10); The guidewire is delivered using the first delivery cartridge assembly (20).

19. A delivery method, characterized in that The delivery method is implemented by using the vascular interventional surgery robot described in claim 2, and the delivery method comprises: Rotating the third delivery box assembly (40) so that it is offset from the first delivery box assembly (20); Installing a first Y-valve (433) connected to the tail end of the catheter on the first delivery box assembly (20), and installing the head end of the catheter in the second delivery box assembly (30); The catheter and the guide wire inserted in the catheter are delivered by contracting the first telescopic delivery mechanism (10); Retracting the guidewire using the first delivery box assembly (20) to remove the guidewire from the catheter; Maintaining the axial position of the catheter, removing the first Y-valve (433), and retracting the first delivery box assembly (20) by extending the first telescopic delivery mechanism (10); Rotate the third delivery box assembly (40) to make it coplanar with the first delivery box assembly (20), and install the first Y-valve (433) in the third delivery box assembly (40); Installing a second Y-valve (23) connected to the tail end of the intermediate conduit on the first delivery box assembly (20), and installing the head end of the intermediate conduit in the third delivery box assembly (40); Delivering the intermediate catheter by contracting the first telescopic delivery mechanism (10); The intermediate catheter and the guide wire inserted in the intermediate catheter are delivered by contracting the first telescopic delivery mechanism (10).

Images