Vascular intervention device delivery structure and method

Abstract

The invention provides a vascular intervention instrument delivery structure and method, and relates to the technical field of medical surgical instruments. Comprising a mechanical arm, a first telescopic assembly, a second telescopic assembly and a third delivery box are installed on the mechanical arm, a first delivery box is arranged on the first telescopic assembly, and a second delivery box is arranged on the second telescopic assembly; the first delivery box is used for clamping the front end of a catheter, and the first telescopic assembly enables the first delivery box to move relative to the third delivery box; the second delivery box is used for clamping and rotating the rear end of the catheter, the second delivery box is further used for clamping the front end of the micro catheter, and the second telescopic assembly enables the second delivery box to move relative to the third delivery box; the third delivery box is used for clamping and rotating the micro catheter and the guide wire, or the third delivery box is used for clamping and rotating the rear end of the catheter. According to the invention, the delivery of the coaxial medical instrument is realized, the catheter cannot move when the micro catheter is delivered, and the stroke of the catheter and the guide wire cannot be shortened when the micro catheter is not used.

Description

Technical Field

[0001] The present invention relates to the technical field of medical surgical instruments, and in particular to a vascular intervention instrument delivery structure and method. Background Art

[0002] With the continuous advancement of medical technology, vascular intervention surgery has become an important means of treating cardiovascular diseases, tumors and other diseases. Such surgeries rely on precise medical device delivery systems to ensure safety and effectiveness during the operation. However, existing vascular intervention device delivery structures still face some challenges and limitations during complex surgeries, especially in the delivery of coaxial medical devices.

[0003] There are many vascular interventional device delivery systems on the market, most of which adopt a coaxial design, that is, they are composed of a catheter, an intermediate catheter (microcatheter) and a guidewire. During the operation, the doctor flexibly chooses to use the intermediate catheter according to the location and complexity of the lesion to improve the accuracy and success rate of the operation. However, the axial movement restriction between the outer catheter and the intermediate catheter: some existing systems limit the axial relative movement between the outer catheter and the intermediate catheter in design. When it is necessary to add an intermediate catheter for surgery, the doctor has to pull out the tail end of the catheter from the consumable box, which often causes a slight movement of the catheter head in the human body, increasing the risk and difficulty of the operation, especially for delicate operations. Without the use of an intermediate catheter, the intermediate catheter module of some existing systems cannot be effectively retracted, resulting in the sacrifice of a portion of the length when delivering inner instruments such as guidewires. This is particularly unfavorable when treating lesions far away from the entrance, which may cause the guidewire to fail to accurately reach the lesion location, affecting the surgical effect. Summary of the invention

[0004] In order to solve the technical problems existing in the prior art, the embodiment of the present invention provides a vascular intervention device delivery structure and method. The technical solution is as follows:

[0005] A vascular interventional device delivery structure, comprising a first interventional device, a second interventional device and a robotic arm;

[0006] The first interventional device comprises a catheter, a microcatheter is arranged in the catheter, and a guide wire is arranged in the microcatheter; the second interventional device comprises a catheter, and a guide wire is arranged in the catheter;

[0007] The robot arm is equipped with a first telescopic assembly, a second telescopic assembly and a third delivery box, the first telescopic assembly is provided with a first delivery box, and the second telescopic assembly is provided with a second delivery box; the first delivery box is used to clamp the front end of the catheter, and the first telescopic assembly enables the first delivery box to move relative to the third delivery box;

[0008] The second delivery box is used to clamp and rotate the rear end of the catheter, and the second delivery box is also used to clamp the front end of the microcatheter, and the second telescopic assembly enables the second delivery box to move relative to the third delivery box;

[0009] The third delivery box is used to clamp and rotate the microcatheter and the guidewire, or the third delivery box is used to clamp and rotate the rear end of the catheter.

[0010] Optionally, a first roller group is provided on the first delivery box, and the first roller group includes at least two rollers arranged opposite to each other; a second roller group is provided on the second delivery box, and the second roller group includes at least two rollers arranged opposite to each other, and a first rotating mechanism is provided on the second delivery box; a second rotating mechanism and a third roller group are provided on the third delivery box, and the third roller group includes at least two rollers.

[0011] Optionally, when delivering a first interventional instrument, the first rotating structure is used to clamp and rotate the Y-valve at the rear end of the catheter, the second roller group is used to clamp and deliver the front end of the microcatheter, and the second rotating mechanism is used to clamp and deliver the rear end of the microcatheter; when delivering a second interventional instrument, the second rotating mechanism is used to clamp and deliver the Y-valve at the rear end of the catheter.

[0012] Optionally, the first telescopic component includes a first connecting plate, a first guide rail is provided on the first connecting plate, a first slider is slidably connected to the first guide rail, the second connecting plate is slidably connected to the first guide rail through the first slider, and a second guide rail is provided on the second connecting plate; a second slider is slidably connected to the second guide rail, the third connecting plate is slidably connected to the second guide rail through the second slider, a first adapter plate is provided on the third connecting plate, and the first delivery box is provided on the first adapter plate; the first connecting plate is provided with the first motor, the first motor is transmission-connected to the first adapter plate through the first transmission assembly, the first motor drives the first adapter plate to move, the moving first adapter plate drives the third connecting plate to move on the second guide rail, and drives the second connecting plate to move on the first guide rail.

[0013] Optionally, the first transmission assembly includes a first gear group, one end of the first gear group is meshed and connected with the output end of the first motor, the other end of the first gear group is meshed and connected with a first nut rod, the first nut rod is threaded with a first lead screw, the first lead screw is threaded with the second lead screw, and the second lead screw is connected to the first adapter plate.

[0014] Optionally, the second telescopic assembly includes a fourth connecting plate, the fourth connecting plate is provided with a third guide rail, the fifth connecting plate is slidably connected to the third guide rail via a third slider, the fifth connecting plate is provided with a fourth guide rail, the sixth connecting plate is slidably connected to the fourth guide rail via a fourth slider, the sixth connecting plate is provided with a second adapter plate, and the second delivery box is provided on the second adapter plate; a second motor is installed on the fourth connecting plate, the second motor is transmission-connected to the second adapter plate via a second transmission assembly, the second motor drives the second adapter plate to move, the moving second adapter plate drives the sixth connecting plate to move on the fourth guide rail, and drives the fifth connecting plate to move on the third guide rail.

[0015] Optionally, the second transmission assembly includes a second gear group, one end of the second gear group is meshed and connected to the output end of the second motor, the other end of the second gear group is meshed and connected to the second nut rod, the second nut rod is threadedly connected to the third screw, the third four-cylinder is threadedly connected to the fourth screw, and the fourth screw is connected to the second adapter plate.

[0016] Optionally, the first delivery box, the second delivery box and the third delivery box are coaxially arranged.

[0017] A vascular interventional device delivery method, comprising the vascular interventional device delivery structure,

[0018] When delivering a second interventional device, the method includes:

[0019] S101, the robotic arm controls the third delivery box to move to a side away from the first delivery box, and the first telescopic assembly extends to the other side;

[0020] S102, making the first delivery box clamp the front end of the catheter, making the third delivery box clamp the Y-valve at the rear end of the catheter, and making the third delivery box clamp the guide wire;

[0021] S103, the first telescopic assembly is retracted, and the robotic arm controls the third delivery box to move toward a direction close to the first delivery box;

[0022] S104, the first telescopic assembly controls the first delivery box to deliver the catheter into the vascular sheath, and the third delivery box delivers the guidewire to pass through the catheter and the vascular sheath, so that the catheter and the guidewire are delivered to the target position;

[0023] When delivering a first interventional device, the method includes:

[0024] S201, the robot arm drives the third delivery box to move in a direction away from the first delivery box, the first telescopic assembly extends in a direction away from the third delivery box, and the second telescopic assembly extends in a direction away from the third delivery box;

[0025] S202, the first delivery box clamps the front end of the catheter, the second delivery box clamps the Y-valve at the rear end of the catheter, the second delivery box clamps the front end of the microcatheter, and the third delivery box clamps the rear end of the microcatheter and the guide wire;

[0026] S203, controlling the second telescopic assembly to continue to extend, the robotic arm drives the third delivery box to move in a direction close to the first delivery box, and controlling the first telescopic assembly and the second telescopic assembly to retract;

[0027] S204, the first telescopic component controls the first delivery box to deliver the catheter into the vascular sheath, the second telescopic component controls the second delivery box to deliver the microcatheter through the catheter, the robotic arm controls the third delivery box to deliver the guidewire through the catheter, the microcatheter and the vascular sheath, and delivers the catheter, the microcatheter and the guidewire to the target location.

[0028] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0029] The technical solution of the present invention realizes the delivery of coaxial medical devices, and when delivering the microcatheter, the movement of the catheter will not be caused, and the travel of the catheter and the guidewire will not be shortened when the microcatheter is not used. In addition, by integrating the first telescopic component and the second telescopic component, the solution can independently and accurately control the movement of the first delivery box and the second delivery box, thereby realizing the precise positioning and delivery of the catheter and the microcatheter (if applicable). This design greatly improves the flexibility and accuracy during the operation, and helps doctors to perform delicate operations in complex vascular environments. Moreover, the second delivery box in the present invention can not only clamp and rotate the rear end of the catheter, but also clamp and deliver the microcatheter, or remain in a standby state when no instrument is clamped. This versatility enables the structure to adapt to a variety of surgical needs and improves the versatility and efficiency of surgical instruments. The third delivery box can clamp and rotate the microcatheter and the guidewire therein, or serve as a rotation fulcrum for the rear end of the catheter. By accurately controlling the movement and rotation of each delivery box, doctors can more safely guide the catheter and microcatheter into the target vascular area, reducing the risk of damage to surrounding tissues. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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.

[0031] Figure 1 A first schematic diagram of a vascular intervention device delivery structure provided by the present invention;

[0032] Figure 2 A second schematic diagram of a vascular intervention device delivery structure provided by the present invention;

[0033] Figure 3 A third schematic diagram of a vascular intervention device delivery structure provided by the present invention;

[0034] Figure 4 A schematic diagram of a first interventional device of a vascular interventional device delivery structure provided by the present invention;

[0035] Figure 5 A schematic diagram of a first telescopic component of a vascular interventional device delivery structure provided by the present invention;

[0036] Figure 6 A schematic diagram of a second telescopic component of a vascular interventional device delivery structure provided by the present invention;

[0037] Figure 7 A flow chart of a vascular interventional device delivery method provided by the present invention when delivering a second interventional device;

[0038] Figure 8 A flow chart of a vascular interventional device delivery method provided by the present invention when delivering a first interventional device.

[0039] Reference numerals:

[0040] 10. first telescopic assembly; 110. first connecting plate; 1100. first guide rail; 120. second connecting plate; 1200. second guide rail; 130. first adapter plate; 140. third connecting plate; 150. first motor; 1500. first fixing seat; 160. first gear set; 170. first nut rod; 180. first lead screw; 190. second lead screw;

[0041] 20, second telescopic assembly; 210, fourth connecting plate; 2100, third guide rail; 220, fifth connecting plate; 2200, fourth guide rail; 230, second adapter plate; 240, sixth connecting plate; 250, second motor; 2500, second fixing seat; 260, second gear set; 270, second nut rod; 280, third lead screw; 290, fourth lead screw;

[0042] 30. First delivery box; 310. First docking plate; 40. Second delivery box; 410. Second docking plate; 50. Third delivery box; 510. Third docking plate; 60. First interventional instrument; 610. Catheter; 620. Guidewire; 630. Microcatheter; 70. Robotic arm. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one", "one" or "the" do not indicate a quantitative limitation, but indicate the existence of at least one. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0045] It should be noted that the terms "up", "down", "left", "right", "front", "back", etc. used in the present invention are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0046] like Figures 1 to 6As shown, an embodiment of the present invention provides a vascular interventional instrument delivery structure, including a first interventional instrument 60, a second interventional instrument and a robotic arm, the first interventional instrument 60 includes a catheter 610, a microcatheter 630 is arranged in the catheter 610, and a guidewire 620 is arranged in the microcatheter 630; the second interventional instrument includes a catheter 610, and a guidewire 620 is arranged in the catheter 610.

[0047] like Figure 5 As shown, the robot arm is provided with a first telescopic assembly 10, a second telescopic assembly 20 and a third delivery box 50, and the robot arm 70 can drive the third delivery box 50 to move. The first telescopic assembly 10 includes a first connecting plate 110, which is mounted on the robot arm 70, a first guide rail 1100 is arranged on one side (front) of the first connecting plate 110, a first slider is slidably connected to the first guide rail 1100, a second connecting plate 120 is slidably arranged on the first guide rail 1100 through the first slider, a second guide rail 1200 is arranged on one side (front) of the second connecting plate 120, a second slider is slidably connected to the second guide rail 1200, one end of the third connecting plate 140 is slidably connected to the second guide rail 1200 through the second slider, a first adapter plate 130 is mounted on the other end of the third connecting plate 140, a first docking plate 310 is mounted on the first adapter plate 130, and a first delivery box 30 is mounted on the first docking plate 310.

[0048] A first motor 150 is provided on the side of the first connecting plate 110, and the output end of the first motor 150 is meshedly connected with one end of the first gear set 160, and the other end of the first gear set 160 is meshedly connected with the first nut rod 170, that is, the first gear set 160 can drive the first nut rod 170 to rotate, and the first nut rod 170 is threadedly connected with the external thread of the first lead screw 180 through an internal thread, so that the first four-bar can move on the first nut rod 170, and a limiting mechanism is provided in the axial direction of the first nut rod 170 to prevent the first lead screw 180 from moving and disengaging from the first nut rod 170, and the internal thread of the first lead screw 180 is threadedly connected with the external thread of the second lead screw 190, so that the second lead screw 190 can move along the axial direction of the first lead screw 180, and a limiting mechanism is provided in the axial direction of the first lead screw 180 to prevent the second lead screw 190 from disengaging from the first lead screw 180 during the movement. The second lead screw 190 is connected to the first adapter plate 130, that is, the second lead screw 190 can drive the first adapter plate 130 to move, and the first motor 150 drives the first adapter plate 130 to move through the first gear set 160. Since the first adapter plate 130 is connected to the third connecting plate 140, the moving first adapter plate 130 can drive the third connecting plate 140 to slide on the second guide rail 1200. The second guide rail 1200 is arranged on the second connecting plate 120. When the third connecting plate 140 slides to the end of the second guide rail 1200, the third connecting plate 140 drives the second connecting plate 120 to move on the first guide rail 1100. The first telescopic assembly 10 is used to drive the first delivery box 30 to move relative to the third delivery box 50.

[0049] like Figure 6As shown, the second telescopic assembly 20 includes a fourth connecting plate 210, which is mounted on the robot arm 70, a third guide rail 2100 is provided on one side (front) of the fourth connecting plate 210, the fifth connecting plate 220 is slidably connected to the third guide rail 2100 via a third slider, a fourth guide rail 2200 is provided on one side (front) of the fifth connecting plate 220, one end of the sixth connecting plate 240 is slidably connected to the fourth guide rail 2200 via a fourth slider, a second adapter plate 230 is installed on the other end of the sixth connecting plate 240, a second docking plate 410 is installed on the second adapter plate 230, and a second delivery box 40 is installed on the second docking plate 410. A second motor 250 is installed on the side of the fourth connecting plate 210, and the output end of the second motor 250 is meshedly connected to one end of the second gear set 260, and the other end of the second gear set 260 is meshedly connected to the second nut rod 270, that is, the second gear set 260 can drive the second nut rod 270 to rotate, and the second nut rod 270 is threadedly connected to the external thread of the third lead screw 280 through an internal thread, that is, the third lead screw 280 can move along the axial direction of the second nut rod 270, and a limiting mechanism is provided in the axial direction of the second nut rod 270 to prevent the third lead screw 280 from escaping from the second nut rod 270 during the movement. The third lead screw 280 is threadedly connected to the external thread of the fourth lead screw 290 through an internal thread, that is, the fourth lead screw 290 can move along the axial direction of the third lead screw 280, and a limiting mechanism is provided in the axial direction of the third lead screw 280 to prevent the fourth lead screw 290 from escaping from the third lead screw 280 during the movement.

[0050] The fourth lead screw 290 is connected to the second adapter plate 230, that is, the fourth lead screw 290 can drive the second adapter plate 230 to move, and the second motor 250 drives the second adapter plate 230 to move through the second gear set 260. Since the second adapter plate 230 is connected to the sixth connecting plate 240, the moving second adapter plate 230 can drive the sixth connecting plate 240 to slide on the fourth guide rail 2200. The fourth guide rail 2200 is set on the fifth connecting plate 220. When the sixth connecting plate 240 slides to the end of the fourth guide rail 2200, the sixth connecting plate 240 drives the fifth connecting plate 220 to move on the third guide rail 2100. The second telescopic assembly 20 is used to drive the second delivery box 40 to move relative to the third delivery box 50.

[0051] like Figures 1 to 3As shown, the first delivery box 30 is provided with a first roller group, which includes a plurality of rollers that are relatively arranged and rotatable. The first roller group is used to clamp and deliver the front end of the catheter 610 to ensure that the catheter 610 can accurately reach the target position. The rollers of the first roller group can tightly clamp the catheter 610, and the rotatable rollers can reduce the friction between them and the catheter 610, so that the catheter 610 can smoothly enter the blood vessel. By adjusting the clamping force and rotation speed of the first roller group, the doctor can accurately control the delivery speed and depth of the front end of the catheter 610. Controlling the clamping force and rotation speed of the roller group is a prior art and will not be repeated here.

[0052] like Figures 1 to 3 As shown, the second delivery box 40 is provided with a second roller group, which includes a plurality of rollers arranged opposite to each other. The second delivery box 40 is also provided with a first rotating mechanism, which is used to clamp and rotate the rear end of the catheter 610, so that the doctor can adjust the direction of the catheter 610 as needed during the operation, so as to better pass through the complex vascular structure. The rollers of the second roller group are used to clamp and deliver the front end of the microcatheter 630. The first rotating mechanism includes at least one clamping device and a rotating driver, which are prior art and are not described here. The clamping device clamps the rear end of the catheter 610, and the rotating driver provides a rotating force for the rear end of the catheter 610. When it is not necessary to clamp the catheter 610 or the microcatheter 630, the second delivery box 40 can be in a non-clamping state, which increases the flexibility of the operation. The delivery function of the microcatheter 630 allows the doctor to further accurately perform local treatment or examination after the catheter 610 reaches the target position.

[0053] like Figures 1 to 3As shown, the third delivery box 50 is provided with a second rotating mechanism and a third roller group, the third roller group includes at least two rollers, the second rotating mechanism is used to clamp and rotate the microcatheter 630, the second rotating mechanism includes at least one clamping device and a rotating driver, the clamping device and the rotating driver are prior art and are not described in detail here, the clamping device clamps the microcatheter 630, and the rotating driver provides a rotating force for the microcatheter 630, so that the doctor can accurately control the direction of the microcatheter 630 to guide it to the target position. The rollers of the third roller group are used to clamp and deliver the guide wire 620, which is usually used to provide additional support and guidance inside the blood vessel to ensure that the catheter 610 or the microcatheter 630 can smoothly reach the target position. The third roller group helps the doctor achieve this goal by accurately controlling the delivery speed and depth of the guide wire 620. By adjusting the clamping force and rotation speed of the third roller group, the doctor can accurately control the delivery speed and depth of the guide wire 620. The clamping force and rotation speed of the control roller group are prior art and are not described in detail here. The third delivery box 50 can clamp and rotate the rear end of the catheter 610. Generally, the doctor needs to use a guide wire 620 inside the microcatheter 630 to further guide or support the microcatheter 630. The third delivery box 50 can clamp and rotate the guide wire 620 inside the microcatheter 630, thereby providing additional control and stability.

[0054] like Figures 1 to 3 As shown, when delivering the second interventional device, the direction away from the first delivery box 30 is the rear, and the direction away from the first delivery box 30 is the front. The robot arm 70 drives the third delivery box 50 to move backward, and after starting the first motor 150 to control the first delivery box 30 to extend forward, the first delivery box 30 is kept stationary relative to the ground to ensure that it will not be affected by the movement of the robot arm 70 during the delivery process. The front end of the catheter 610 is fixed on the first delivery box 30, and the Y valve (a valve for controlling the flow of fluid) at the rear end of the catheter 610 is set on the third delivery box 50, and the guide wire 620 is also set on the third delivery box 50. The robot arm 70 controls the third delivery box 50 to move forward, and at the same time controls the first telescopic assembly 10 to shrink appropriately to keep the first delivery box 30 stationary relative to the ground. As the third delivery box 50 moves, the catheter 610 and the guide wire 620 are gradually delivered into the vascular sheath. The third delivery cartridge 50 continues to deliver the guidewire 620 to pass through the catheter 610 and the vascular sheath, and then continues to deliver the catheter 610 and the guidewire 620 until both the catheter 610 and the guidewire 620 reach the target location.

[0055] When delivering the first interventional device 60, the robot arm 70 drives the third delivery box 50 to move backward, and the first motor 150 controls the first telescopic assembly 10 to extend, so that the first delivery box 30 is stationary relative to the ground. The second motor 250 controls the second telescopic assembly 20 to extend, so that the second delivery box 40 moves to the middle of the first delivery box 30 and the third delivery box 50. The front end of the catheter 610 is set on the first delivery box 30, and the Y valve at the rear end of the catheter 610 is set on the second delivery box 40, so as to perform more flexible control during the delivery process. The front end of the microcatheter 630 is set on the second delivery box 40, and the rear end of the microcatheter 630 and the guide wire 620 are set on the third delivery box 50. Then during the extension process of the second telescopic assembly 20, the robot arm 70 controls the third delivery box 50 to move forward, and at the same time controls the first telescopic assembly 10 and the second telescopic assembly 20 to appropriately contract to keep the first delivery box 30 and the second delivery box 40 in a stationary state. The first delivery box 30 first delivers the catheter 610 to the vascular sheath. Then, the second delivery box 40 delivers the microcatheter 630, passing through the catheter 610 and moving forward. The third delivery box 50 delivers the guidewire 620, passing through the catheter 610, the microcatheter 630 and the vascular sheath, and alternately controls each delivery process until all the devices reach the target location.

[0056] The first delivery box 30, the second delivery box 40 and the third delivery box 50 are coaxially arranged. This embodiment realizes the delivery of coaxial medical devices, and when delivering the microcatheter 630, the catheter 610 will not be moved, and when the microcatheter 630 is not used, the travel of the catheter 610 and the guide wire 620 will not be shortened. In addition, by integrating the first telescopic component 10 and the second telescopic component 20, the present structure can independently and accurately control the movement of the first delivery box 30 and the second delivery box 40, thereby realizing the precise positioning and delivery of the catheter 610 and the microcatheter 630 (if applicable). This design greatly improves the flexibility and accuracy during the operation, and helps doctors to perform delicate operations in complex vascular environments. The second delivery box 40 can not only clamp and rotate the rear end of the catheter 610, but also clamp and deliver the microcatheter 630, or remain in standby mode when no instrument is clamped. This versatility enables the structure to adapt to a variety of surgical needs and improves the versatility and efficiency of surgical instruments. The third delivery box 50 can clamp and rotate the microcatheter 630 and the guidewire 620, or serve as a rotation fulcrum for the rear end of the catheter 610. By precisely controlling the movement and rotation of each delivery box, the doctor can more safely guide the catheter 610 and the microcatheter 630 into the target vascular area, reducing the risk of damage to surrounding tissues.

[0057] like Figures 1 to 6As shown, when delivering the first interventional instrument 60, the first rotating mechanism is used to clamp and rotate the Y-valve at the rear end of the catheter 610, the second roller group is used to clamp and deliver the front end of the microcatheter 630, and the second rotating mechanism is used to clamp and deliver the rear end of the microcatheter 630; when delivering the second interventional instrument, the second rotating mechanism is used to clamp and deliver the Y-valve at the rear end of the catheter 610.

[0058] Specifically, when the microcatheter 630 is set, the first rotating mechanism clamps and rotates the Y-valve at the rear end of the catheter 610. The second roller group clamps and delivers the front end of the microcatheter 630. The second rotating mechanism is no longer used to clamp and deliver the Y-valve at the rear end of the catheter 610 (because this task has been undertaken by the first rotating mechanism), but is instead used to clamp and deliver the rear end of the microcatheter 630. When the microcatheter 630 is not set, the second rotating mechanism clamps and delivers the Y-valve at the rear end of the catheter 610. When the microcatheter 630 is delivered, the catheter 610 will not be moved, and when the microcatheter 630 is not used, the travel of the catheter 610 and the guide wire 620 will not be shortened by adjusting the position where the catheter 610 is set.

[0059] like Figures 5 and 6 As shown, the robot arm 70 drives the first delivery box 30, the second delivery box 40 and the third delivery box 50 to move as a whole. This allows the doctor to quickly and accurately adjust the position of the entire delivery structure without changing the relative position of each delivery box to adapt to different surgical needs and vascular structures. The robot arm 70 can achieve precise control of the position of the delivery structure. The doctor can send instructions to the robot arm 70 through the input device (such as a handle, a touch screen, etc.) on the operation console to move the delivery box according to a predetermined path and speed. A first fixed seat 1500 is installed on the first connecting plate 110, and a first motor 150 is provided on the first fixed seat 1500. The setting of the first guide rail 1100 and the second guide rail 1200 realizes support when sliding to prevent the first delivery box 30 from shaking during operation. A second fixed seat 2500 is installed on the second connecting plate 120, and a second motor 250 is provided on the second fixed seat 2500. The setting of the third guide rail 2100 and the fourth guide rail 2200 realizes support when sliding to prevent the second delivery box 40 from shaking during operation. This embodiment is not limited to the use of a multi-stage screw for delivery, and may also use a single-stage screw or a ready-made module, and may be adjusted according to actual needs.

[0060] Specifically, the first telescopic assembly 10 and the second telescopic assembly 20 are generally arranged in multiple stages, that is, one or more corresponding lead screws are arranged. The first telescopic assembly 10 and the second telescopic assembly 20 are arranged side by side in a direction perpendicular to the bottom plane of the delivery box. The first delivery box 30 is arranged on the first telescopic assembly 10 through the first docking plate 310, the second delivery box 40 is arranged on the second telescopic assembly 20 through the second docking plate 410, and the third delivery box 50 is arranged on the robot arm 70 through the third docking plate 510. The second delivery box 40 is lower than the first docking plate 310 and the third docking plate 510 in the direction perpendicular to the bottom plane of the delivery box to the second docking plate 410, and the second delivery box 40 can be hidden under the third docking plate 510 when it is recovered. The second delivery box 40 is higher than the first delivery box 30 and the third delivery box 50, so after the first delivery box 30, the second delivery box 40 and the third delivery box 50 are installed on the docking plate, the first delivery box 30, the second delivery box 40 and the third delivery box 50 are coaxially arranged.

[0061] like Figure 7 As shown, an embodiment of the present invention provides a method for delivering a vascular interventional device. When delivering a second interventional device, the method includes:

[0062] S101: The robot arm 70 drives the third delivery box 50 to move backward, and the first motor 150 controls the first telescopic assembly 10 to extend forward, so that the first delivery box 30 is stationary relative to the ground.

[0063] S102 : The front end of the catheter 610 is disposed on the first delivery box 30 , the Y-valve at the rear end of the catheter 610 is disposed on the third delivery box 50 , and the guide wire 620 is disposed on the third delivery box 50 .

[0064] S103: The robot arm 70 controls the third delivery box 50 to move forward, and the first motor 150 controls the first telescopic assembly 10 to retract, so that the first delivery box 30 is stationary relative to the ground.

[0065] S104: The first delivery cartridge 30 delivers the catheter 610 into the vascular sheath, and the third delivery cartridge 50 delivers the guidewire 620 through the catheter 610 and the vascular sheath to deliver the catheter 610 and the guidewire 620 to the target location.

[0066] In the above method, the first motor 150 controls the first telescopic assembly 10 to extend, so that the first delivery box 30 remains stationary relative to the ground, ensuring that it will not be affected by the movement of the robotic arm 70 during the delivery process. The front end of the catheter 610 is fixed on the first delivery box 30, and the Y valve (a valve for controlling the flow of fluid) at the rear end of the catheter 610 is set on the third delivery box 50, and the guide wire 620 is also set on the third delivery box 50 for subsequent operations. Then the robotic arm 70 controls the third delivery box 50 to move forward, and at the same time controls the first telescopic assembly 10 to shrink appropriately to keep the first delivery box 30 stationary relative to the ground. As the third delivery box 50 moves, the catheter 610 and the guide wire 620 are gradually delivered into the vascular sheath. After the catheter 610 enters the distance of one end of the vascular sheath and the catheter 610 does not leak out of the vascular sheath, the delivery of the catheter 610 is stopped. The third delivery cartridge 50 continues to deliver the guidewire 620 to pass through the catheter 610 and the vascular sheath, and then continues to deliver the catheter 610 and the guidewire 620 until both the catheter 610 and the guidewire 620 reach the target location.

[0067] like Figure 8 As shown, a method for delivering a vascular interventional device, when delivering a first interventional device 60, the method includes:

[0068] S201: The robot arm 70 drives the third delivery box 50 to move backward, the first motor 150 controls the first telescopic assembly 10 to extend forward, so that the first delivery box 30 is stationary relative to the ground, and the second motor 50 controls the second telescopic assembly 20 to extend forward, controlling the second delivery box 40 to move forward.

[0069] S202: Set the front end of the catheter 610 on the first delivery box 30, and set the Y valve at the rear end of the catheter 610 on the second delivery box 40; set the front end of the microcatheter 630 on the second delivery box 40, and set the rear end of the microcatheter 630 and the guide wire 620 on the third delivery box 50.

[0070] S203: The second motor 250 controls the second telescopic assembly 20 to extend forward, and the robot arm 70 controls the third delivery box 50 to move and controls the first telescopic assembly 10 and the second telescopic assembly 20 to retract, so that the first delivery box 30 and the second delivery box 40 are stationary relative to the ground.

[0071] S204: The first delivery box 30 delivers the catheter 610 into the vascular sheath, the second delivery box 40 delivers the microcatheter 630, and the third delivery box 50 delivers the guidewire 620 through the catheter 610, the microcatheter 630 and the vascular sheath to cooperate with the microcatheter 630 to deliver the catheter 610 and the guidewire 620 to the target location.

[0072] In this embodiment, the first motor 150 controls the first telescopic assembly 10 to extend forward, so that the first delivery box 30 is stationary relative to the ground. The second motor 250 controls the second telescopic assembly 20 to extend, so that the second delivery box 40 moves to the middle of the first delivery box 30 and the third delivery box 50. The front end of the catheter 610 is set on the first delivery box 30, and the Y valve at the rear end of the catheter 610 is set on the second delivery box 40, so as to perform more flexible control during the delivery process. The front end of the microcatheter 630 is set on the second delivery box 40, and the rear end of the microcatheter 630 and the guide wire 620 are set on the third delivery box 50. Then, during the extension process of the second telescopic assembly 20, the catheter 610 is driven to move forward into the vascular sheath for a distance. The mechanical arm 70 controls the third delivery box 50 to move forward, and at the same time controls the first telescopic assembly 10 and the second telescopic assembly 20 to appropriately contract to keep the first delivery box 30 and the second delivery box 40 in a stationary state. The first delivery box 30 first delivers the catheter 610 to the vascular sheath. Subsequently, the second delivery box 40 delivers the microcatheter 630, which passes through the catheter 610 and continues forward. The third delivery box 50 delivers the guidewire 620, which passes through the catheter 610, the microcatheter 630 and the vascular sheath. When the guidewire 620 is blocked during delivery, the delivery of the guidewire 620 is stopped, and the robotic arm 70 and the second telescopic assembly 20 cooperate to deliver the microcatheter 630 to follow the guidewire 620 and provide support for the guidewire 620. The guidewire 620 and the microcatheter 630 alternately advance through the blocked position to reach the target position, and finally the microcatheter 630 is withdrawn, and the catheter 610 follows the guidewire 620 to advance to the target position.

[0073] This solution realizes the delivery of coaxial medical devices, and when delivering the microcatheter, it will not cause the movement of the catheter, and when the microcatheter is not used, the travel of the catheter and the guidewire will not be shortened. In addition, by integrating the first telescopic component and the second telescopic component, the solution can independently and accurately control the movement of the first delivery box and the second delivery box, thereby realizing the precise positioning and delivery of the catheter and the microcatheter (if applicable). This design greatly improves the flexibility and accuracy during the operation, and helps doctors to perform delicate operations in complex vascular environments. Moreover, the second delivery box in the present invention can not only clamp and rotate the rear end of the catheter, but also clamp and deliver the microcatheter, or remain on standby when no instrument is clamped. This versatility enables the structure to adapt to a variety of surgical needs and improves the versatility and efficiency of surgical instruments. The third delivery box can clamp and rotate the microcatheter and the guidewire inside it, or serve as a rotation fulcrum for the rear end of the catheter. By accurately controlling the movement and rotation of each delivery box, doctors can more safely guide the catheter and microcatheter into the target vascular area, reducing the risk of damage to surrounding tissues.

[0074] The following points need to be explained:

[0075] (1) The drawings of the embodiments of the present invention only involve structures related to the embodiments of the present invention. Other structures may refer to conventional designs.

[0076] (2) For the sake of clarity, in the drawings used to describe the embodiments of the present invention, the thickness of layers or regions is exaggerated or reduced, that is, these drawings are not drawn according to the actual scale. It is understood that when an element such as a layer, film, region or substrate is referred to as being "on" or "under" another element, the element may be "directly" "on" or "under" the other element or there may be intermediate elements.

[0077] (3) In the absence of conflict, the embodiments of the present invention and the features therein may be combined with each other to obtain new embodiments.

[0078] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A vascular intervention device delivery structure, characterized in that: including a first interventional instrument, a second interventional instrument and a robotic arm; The first interventional device comprises a catheter, a microcatheter is arranged in the catheter, and a guide wire is arranged in the microcatheter; the second interventional device comprises a catheter, and a guide wire is arranged in the catheter; The robot arm is provided with a first telescopic assembly, a second telescopic assembly and a third delivery box, wherein the first telescopic assembly is provided with a first delivery box, and the second telescopic assembly is provided with a second delivery box; The first delivery box is used to clamp the front end of the catheter, and the first telescopic assembly enables the first delivery box to move relative to the third delivery box; The second delivery box is used to clamp and rotate the rear end of the catheter, and the second delivery box is also used to clamp the front end of the microcatheter, and the second telescopic assembly enables the second delivery box to move relative to the third delivery box; The third delivery box is used to clamp and rotate the microcatheter and the guidewire, or the third delivery box is used to clamp and rotate the rear end of the catheter.

2. The vascular intervention device delivery structure according to claim 1, characterized in that: The first delivery box is provided with a first roller group, which includes at least two rollers arranged opposite to each other; the second delivery box is provided with a second roller group, which includes at least two rollers arranged opposite to each other; the third delivery box is provided with a third roller group, which includes at least two rollers.

3. The vascular intervention device delivery structure according to claim 2, characterized in that: The second delivery box is provided with a first rotating mechanism for clamping and rotating the rear end of the catheter, and the third delivery box is provided with a second rotating mechanism for clamping and rotating the microcatheter.

4. The vascular intervention device delivery structure according to claim 3, characterized in that: When delivering the first interventional instrument, the first rotating structure is used to clamp and rotate the Y-valve at the rear end of the catheter, the second roller group is used to clamp and deliver the front end of the microcatheter, and the second rotating mechanism is used to clamp and deliver the rear end of the microcatheter; when delivering the second interventional instrument, the second rotating mechanism is used to clamp and deliver the Y-valve at the rear end of the catheter.

5. The vascular intervention device delivery structure according to claim 1, characterized in that: The first telescopic component includes a first connecting plate, a first guide rail is arranged on the first connecting plate, a first slider is slidably connected to the first guide rail, the second connecting plate is slidably connected to the first guide rail through the first slider, and a second guide rail is arranged on the second connecting plate; a second slider is slidably connected to the second guide rail, the third connecting plate is slidably connected to the second guide rail through the second slider, a first adapter plate is arranged on the third connecting plate, and the first delivery box is arranged on the first adapter plate; the first connecting plate is arranged on the first connecting plate, the first motor is transmission-connected to the first adapter plate through the first transmission assembly, the first motor drives the first adapter plate to move, and the moving first adapter plate drives the third connecting plate to move on the second guide rail, and drives the second connecting plate to move on the first guide rail.

6. The vascular intervention device delivery structure according to claim 5, characterized in that: The first transmission assembly includes a first gear set, one end of the first gear set is meshedly connected to the output end of the first motor, the other end of the first gear set is meshedly connected to a first nut rod, the first nut rod is threadedly connected to a first lead screw, the first lead screw is threadedly connected to the second lead screw, and the second lead screw is connected to the first adapter plate.

7. The vascular intervention device delivery structure according to claim 1, characterized in that: The second telescopic assembly includes a fourth connecting plate, a third guide rail is provided on the fourth connecting plate, a fifth connecting plate is slidably connected to the third guide rail via a third slider, a fourth guide rail is provided on the fifth connecting plate, a sixth connecting plate is slidably connected to the fourth guide rail via a fourth slider, a second adapter plate is provided on the sixth connecting plate, and the second delivery box is provided on the second adapter plate; a second motor is installed on the fourth connecting plate, the second motor is transmission-connected to the second adapter plate via a second transmission assembly, the second motor drives the second adapter plate to move, the moving second adapter plate drives the sixth connecting plate to move on the fourth guide rail, and drives the fifth connecting plate to move on the third guide rail.

8. The vascular intervention device delivery structure according to claim 7, characterized in that: The second transmission assembly includes a second gear group, one end of the second gear group is meshed and connected with the output end of the second motor, the other end of the second gear group is meshed and connected with the second nut rod, the second nut rod is threadedly connected to the third screw rod, the third four-cylinder is threadedly connected to the fourth screw rod, and the fourth screw rod is connected to the second adapter plate.

9. The vascular intervention device delivery structure according to claim 1, characterized in that: The first delivery box, the second delivery box and the third delivery box are coaxially arranged.

10. A method for delivering a vascular intervention device, characterized in that: A vascular intervention device delivery structure comprising any one of claims 1 to 9, When delivering a second interventional device, the method includes: S101, the robotic arm controls the third delivery box to move to a side away from the first delivery box, and the first telescopic assembly extends to the other side; S102, making the first delivery box clamp the front end of the catheter, making the third delivery box clamp the Y-valve at the rear end of the catheter, and making the third delivery box clamp the guide wire; S103, the first telescopic assembly is retracted, and the robotic arm controls the third delivery box to move toward a direction close to the first delivery box; S104, the first telescopic assembly controls the first delivery box to deliver the catheter into the vascular sheath, and the third delivery box delivers the guidewire to pass through the catheter and the vascular sheath, so that the catheter and the guidewire are delivered to the target position; When delivering a first interventional device, the method includes: S201, the robot arm drives the third delivery box to move in a direction away from the first delivery box, the first telescopic assembly extends in a direction away from the third delivery box, and the second telescopic assembly extends in a direction away from the third delivery box; S202, the first delivery box clamps the front end of the catheter, the second delivery box clamps the Y-valve at the rear end of the catheter, the second delivery box clamps the front end of the microcatheter, and the third delivery box clamps the rear end of the microcatheter and the guide wire; S203, controlling the second telescopic assembly to continue to extend, the robotic arm drives the third delivery box to move in a direction close to the first delivery box, and controlling the first telescopic assembly and the second telescopic assembly to retract; S204, the first telescopic component controls the first delivery box to deliver the catheter into the vascular sheath, the second telescopic component controls the second delivery box to deliver the microcatheter through the catheter, the robotic arm controls the third delivery box to deliver the guidewire through the catheter, the microcatheter and the vascular sheath, and delivers the catheter, the microcatheter and the guidewire to the target location.

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