Interventional guide wire auxiliary conveying device

Abstract

According to the interventional guide wire auxiliary conveying device, a push-pull plate is adopted to push and pull a conveying pipe to move, a locking block and a guide wire are pressed tightly, the conveying pipe drives the locking block to move so as to convey the guide wire, meanwhile, specific tension and pressure between the push-pull plate and a connecting plate are detected through a tension and pressure sensor, and then the tension and pressure are input into a main control chip; meanwhile, the torsion motor drives the conveying pipe to twist so as to drive the guide wire to twist, and the torque sensor detects the torque and the torque change and inputs the torque and the torque change into the main control chip. And driving levers of the two driving lever modules are used for controlling operation of a conveying motor and operation of a torsion motor respectively, and meanwhile, a main control chip controls operation of a damping electric cylinder of each driving lever module according to the collected pull pressure and torque, so that rotation damping of the corresponding driving lever is adjusted. In this way, the push-pull force change and the torque change in the operation process can be amplified, so that an operator can quickly feel the push-pull force change and the torque change, it is not needed that in the prior art, long-time training is needed, judgment is conducted through feelings, and the difficulty in guide wire operation can be greatly reduced.

Description

Technical Field

[0001] The present invention relates to a medical auxiliary device, in particular to an interventional guidewire auxiliary delivery device. Background Art

[0002] Interventional surgery involves visualizing the blood vessels under X-ray irradiation, then inserting a guidewire and guiding it to the target location to place a stent, clean the affected area, or conduct further examinations. Currently, the delivery and extraction of guidewires in interventional surgery require manual processing by the doctor. This is usually done with a torque controller to control the twisting of the guidewire to guide its direction. The guidewire can be pushed or pulled directly for delivery and extraction. The control requirements for the guidewire are relatively high, as it is necessary to accurately sense changes in the guidewire's resistance in order to promptly bypass obstacles such as blood clots. This requires extensive training for doctors to accurately perceive the process. However, the entire operation process is highly standardized, so there is the possibility of machine replacement. In addition, combining existing image recognition technology and intelligent control technology may replace manual labor or enable remote control or remote surgery.

[0003] During the practice of doctors or surgeons, it is generally difficult to feel the change in resistance because it requires very rich experience. It is also difficult to develop the corresponding feeling during daily practice. Therefore, there are currently very few doctors who can undertake interventional treatment.

[0004] In this regard, how to use a device to assist in improving the sensitivity to changes in guidewire damping and assist in delivering the guidewire is a technical problem that needs to be solved at present. Summary of the Invention

[0005] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide an interventional guidewire auxiliary delivery device, which can sense and amplify the resistance during the guidewire operation so that the operator can clearly perceive and control the guidewire delivery.

[0006] To achieve the above objectives, the present invention provides an interventional guidewire-assisted delivery device, comprising a housing, a delivery tube, and a handle portion. The housing is provided with an output hole, a first collar is installed inside the housing, and the inner side of the first collar is assembled with a fixing frame; The delivery tube and the fixing frame can be assembled and moved relative to each other in the axial direction; a delivery tube hole is provided inside the delivery tube, and the guide wire passes through the delivery tube hole; the delivery tube is driven directly or indirectly by a delivery motor to move to deliver the guide wire; The handle portion is fixedly mounted on the housing, and an upper cover and a shift lever are mounted on the handle portion. One end of the shift lever is inserted into the handle portion and assembled with the rotating shaft. The rotating shaft is assembled with the upper cover and the shaft plate. The upper cover and the shaft plate are both mounted on the handle portion. The shift lever is fitted or pressed against the friction plate to provide damping for the rotation of the shift lever. The friction plate controls the pressure between the friction plate and the shift lever via a damping electric cylinder. The pressure and tension of the conveying motor conveying the conveying tube are detected by the tension and pressure sensor, and then input into the main control chip. The main control chip converts it into a signal for controlling the operation of the damping electric cylinder according to the built-in program to control the operation of the corresponding damping electric cylinder, thereby controlling the pressure of the corresponding friction plate and the lever, that is, the rotational damping of the lever.

[0007] As a further improvement of the present invention, the rotating shaft is assembled with the input end of the potentiometer, and the housing of the potentiometer is installed in the handle portion; the friction plate is installed on the damping block, and the damping block is engaged and slidably installed in the damping groove, and the damping groove is provided on the handle portion; The damping block is tightly attached or fixed to one side of the airbag, and the other side of the airbag is pressed or fitted to the pressure plate. The pressure plate is assembled with the damping electric cylinder shaft, and the damping electric cylinder shaft is installed in the damping electric cylinder. The airbag is elastic, hollow inside and filled with gas.

[0008] As a further improvement of the present invention, a latching tooth is provided on the outer wall of the first sleeve to form a gear, the gear is meshed with the driving tooth for transmission, the driving tooth is mounted on the torsion motor shaft, and one end of the torsion motor shaft is installed in the torsion motor; an encoder is mounted on the torsion motor shaft, and a torque sensor is installed and then installed in the torsion motor, and the torsion motor is installed in the outer shell; the encoder is used to detect the rotation angle of the driving tooth, and then the rotation angle of the fixed frame is calculated through the transmission ratio of the driving tooth and the gear to achieve precise control.

[0009] As a further improvement of the present invention, the damping electric cylinder, the damping block, and the shifting rod constitute a shifting rod module, and there are two shifting rod modules, and the shifting rods of the two shifting rod modules respectively control the conveying motor and the twisting motor; The torque sensor detects the torque during torsion and then inputs it into the main control chip. The main control chip converts the detected torque into a signal to control the operation of the corresponding damping electric cylinder according to the program to control the rotational damping of the lever used to control the torsion motor.

[0010] As a further improvement of the present invention, a guide plate is installed on the fixing frame, and a card slot is also provided on the delivery tube, the card slot is engaged with the locking block and slidably assembled, and the locking block can be pressed tightly against the guide wire; The locking block is assembled with one end of the sliding shaft, and the other end of the sliding shaft is assembled with the locking block seat. A pin sleeve is directly or indirectly installed on the locking block seat. The pin sleeve is inserted into the guide groove of the guide plate and engaged and slidably assembled therewith. The guide plate is installed on the fixed frame.

[0011] As a further improvement of the present invention, the other end of the sliding shaft passes through the cover plate, is fitted with a locking block spring, and is assembled with the locking block seat. The cover plate is installed on the conveying pipe, and the locking block spring applies an elastic force to the locking block seat away from the cover plate, so that the locking block is away from the guide wire in the initial state.

[0012] As a further improvement of the present invention, the guide groove includes a lower transverse groove, an upper transverse groove, and an inclined connecting groove that connects the two ends of the lower transverse groove and the upper transverse groove respectively. When the pin sleeve cooperates with the lower transverse groove, it will squeeze the locking block seat so that the locking block moves down and is pressed against the guide wire; when the pin sleeve cooperates with the upper transverse groove, the locking block does not contact the guide wire; spring sheets are respectively installed at the connection points between the lower transverse groove and the two connecting grooves, and the pin sleeve is guided to move in the guide groove by the spring sheets.

[0013] As a further improvement of the present invention, the connection points between the lower transverse groove and the two connecting grooves are hinged to the spring sheet through a spring shaft respectively. The spring sheet is elastic. A switching gear is mounted on the spring shaft. The switching gear is engaged with the switching rack for transmission. The switching rack is mounted on the switching frame. A driving part is provided on the switching frame. The driving part is assembled with the switching cylinder shaft of the switching electric cylinder. The switching electric cylinder is mounted on the fixed frame.

[0014] As a further improvement of the present invention, the fixing frame is further provided with two micro switches on both sides of the driving part. When the driving part moves to the two maximum displacement points, the corresponding micro switches are triggered respectively. The micro switches input signals to the main control chip. The main control chip determines the position of the driving part according to the triggered micro switches, thereby determining the position status of the two spring sheets. The spring sheet has two position states, one of which is to close the lower transverse groove, thereby guiding the pin sleeve along the connecting groove into the upper transverse groove; the other state is that the spring sheet closes the corresponding connecting groove; the states of the two spring sheets are opposite, that is, the states of the spring sheets corresponding to the two connecting grooves are different.

[0015] As a further improvement of the present invention, the conveying pipe is assembled with a connecting plate, the connecting plate is assembled with a housing of a tension and pressure sensor, the input end of the tension and pressure sensor is assembled with a push-pull plate, the push-pull plate is sleeved outside the conveying rod, the conveying rod is installed in the housing, and one end of the conveying rod is connected to the output shaft of the conveying motor, and the conveying motor is installed in the housing; The conveying rod is a screw rod or a reciprocating screw rod. When the conveying rod is a screw rod, a screw hole or a screw sleeve is provided on the push-pull plate and is assembled with the conveying rod through a threaded screw; when the conveying rod is a reciprocating screw rod, a slider is installed on the push-pull plate, and the slider is engaged and slid into the groove of the reciprocating screw rod. When the reciprocating screw rod rotates, it drives the push-pull plate to move back and forth along its axial direction.

[0016] The beneficial effects of the present invention are: The present invention uses a push-pull plate to push and pull the delivery tube. A locking block compresses the guidewire, and the delivery tube drives the locking block to move, enabling guidewire delivery. A tension and pressure sensor detects the specific tension and pressure between the push-pull plate and the connecting plate, which is then input into a main control chip. A torque sensor detects torque and torque changes, which are then input into the main control chip. The levers of the two lever modules control the operation of the delivery and torque motors, respectively. The main control chip controls the damping cylinder of each lever module based on the collected tension and torque, adjusting the rotational damping of the corresponding lever. This amplifies the changes in push-pull and torque during operation, allowing the operator to quickly and accurately perceive them, eliminating the need for lengthy training and relying on intuition, as is required with existing technologies. This significantly reduces the difficulty of guidewire operation, improves the success rate of interventional procedures, and provides technical support for subsequent intelligent development.

[0017] The present invention also utilizes upper and lower transverse grooves and connecting grooves provided on the guide plate, and utilizes a pin sleeve that controls the movement of the locking block along the upper and lower transverse grooves to correspond to the state of the locking block. Furthermore, the switching rack is driven by movement, which in turn drives the switching gear to control the state of the spring to control the direction of the guide wire feed. This design is very simple and compact, yet it enables rapid and accurate switching of the guide wire feed direction. It is also low-cost, reduces overall weight, and improves structural reliability, thereby increasing the stability of the entire device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1-Figure 2 It is a structural schematic diagram of the present invention; Figure 3 This is a cross-sectional view of the present invention at the center plane where the axis of the delivery pipe 410 is located; Figure 4 This is a cross-sectional view of the present invention at the center plane where the axis of the rotating shaft 440 is located; Figure 5 This is a cross-sectional view of the present invention at the center plane where the axis of the sliding shaft 460 is located; Figure 6 yes Figure 5 Enlarged view of point A in the middle; Figure 7 This is a cross-sectional view of the present invention at the center plane of the driving tooth 330; Figures 8-11 It is a partial structural schematic diagram of the present invention; Figure 12-13 It is a structural diagram of the lever module; Figure 14-15 1 is a schematic diagram of the structure of the twisting motor 260, the conveying frame 140, the conveying pipe 410, the switching frame 170, and the guide plate 160; Figure 16It is a schematic diagram of the structure of the delivery pipe 410 and the guide plate 160; Figure 17-18 170 and the guide plate 160; Figure 19 It is a structural diagram of the locking block 150; Figure 20 It is a structural diagram of the locking block 150 and the guide plate 160. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0020] See also Figures 1-20 The interventional guidewire-assisted delivery device of this embodiment includes a housing 110 and a handle portion 120. The handle portion 120 is fixed to the housing 110. The housing 110 is provided with a side shell 111, a hinge seat 112, and an output hole 113. The hinge seat 112 is hinged to a support leg 130 via a hinge shaft 132. The support leg 130 is provided with a support block 131. Figure 3 In the initial state, the two support legs 130 are retracted and the two support blocks 131 are pressed together so that the support legs 130 remain in the retracted state. Figure 9 When in use, the support legs 130 can be unfolded and the support blocks 131 are supported on a table or an operating table to support the entire device. This design is mainly to reduce the burden on the doctor during operation because there is no need to provide support for the entire device.

[0021] The housing 110 is internally rotatably mounted with a first ring 310 and a second ring 320. The inner sides of the first ring 310 and the second ring 320 are respectively engaged with the fixed frame 140. The outer wall of the first ring 310 is provided with a latching tooth to form a gear. The gear meshes with the driving tooth 330 for transmission. The driving tooth 330 is mounted on the torsion motor shaft 261. The torsion motor shaft 261 is equipped with an encoder 202 and a torque sensor 201. One end of the torsion motor 260 is installed in the torsion motor 260, which is mounted in the housing 110. When in use, the torsion motor 260 is started to drive the driving tooth 330 to rotate. The driving tooth 330 drives the gear to rotate, thereby driving the entire fixed frame 140 to rotate to achieve torsion of the guidewire. The encoder 202 is used to detect the angle of rotation of the driving tooth 330. The rotation angle of the fixed frame is then calculated based on the transmission ratio between the driving tooth and the gear to achieve precise control.

[0022] The fixing frame 140 is respectively mounted with a first guide block 141 , a second guide block 142 and a guide plate 160 . The first guide block 141 is engaged and slidably assembled with the conveying slide rail 413 . The conveying slide rail 413 is mounted on the conveying pipe 410 to guide the axial movement of the conveying pipe 410 .

[0023] The delivery tube 410 is provided with a delivery tube hole 411 extending therethrough, through which the guide wire 01 passes. The delivery tube 410 is also provided with a latching slot 412, which engages and slides with a locking block 150. The locking block 150 is provided with a locking slot 151, which can be clamped onto the guide wire 01, thereby allowing the guide wire 01 to move synchronously with the delivery tube 410. The locking block 150 is assembled with one end of a sliding shaft 460. The other end of the sliding shaft 460 passes through a cover plate 461, is fitted with a locking block spring 630, and is then assembled with a locking block seat 640. The cover plate 461 is mounted on the delivery tube 410. The locking block spring 630 exerts an elastic force on the locking block seat 640, which moves away from the cover plate 461. This forces the locking block 150 away from the guide wire 01 in the initial state, preventing it from contacting the guide wire 01. In this state, the delivery tube 410 cannot move the guide wire 01 along with it. The portion of the locking block 150 located in the locking groove 151 can be made of a material with elasticity and a high friction coefficient, such as rubber or silicone. This design can increase the friction and the stability of the guide wire compression, thereby making the subsequent delivery and twisting control of the guide wire more stable.

[0024] The locking block seat 640 is provided with a seat pin 641 , on which a pin sleeve 642 is rotatably mounted. The pin sleeve 642 is inserted into the guide groove of the guide plate 160 and engaged and slidably assembled therewith. The guide plate 160 is mounted on the fixing frame 140 .

[0025] The guide groove includes a lower transverse groove 161, an upper transverse groove 162, and an inclined connecting groove 163 that connects the two ends of the lower transverse groove 161 and the upper transverse groove 162 respectively. When the pin sleeve cooperates with the lower transverse groove 161, it will squeeze the locking block seat 640 so that the locking block 150 moves down and is pressed tightly against the guide wire 01; when the pin sleeve cooperates with the upper transverse groove 162, the locking block 150 does not contact the guide wire 01, so that the delivery tube can move relative to the length direction of the guide wire.

[0026] The connection between the lower transverse slot 161 and the two connecting slots 163 is hingedly connected to a spring plate 660 via a spring shaft 661. The spring plate 660 is elastic. A switching gear 340 is mounted on the spring shaft 661 in a non-rotatable manner relative to the circumference. The switching gear 340 meshes with a switching rack 350 for transmission. The switching rack 350 is mounted on the switching frame 170. The switching frame 170 is provided with a sliding portion 171 and a driving portion 172. The sliding portion 171 engages and slides with the second guide block 142. The driving portion 172 is assembled with the switching cylinder shaft 281 of the switching cylinder 280, which is mounted on the fixed frame 140. When the switching cylinder 280 is activated, it can move the switching frame 170, thereby moving the two switching racks 350, thereby changing the position of the corresponding spring plate 660.

[0027] The fixing frame 140 is also provided with two micro switches 203 on both sides of the driving portion 172. When the driving portion 172 moves to two maximum displacement points, the corresponding micro switches 203 are triggered respectively. The micro switches 203 input signals to the main control chip. The main control chip determines the position of the driving portion 172 based on the triggered micro switches, thereby calculating the position status of the two spring pieces 660.

[0028] The spring piece 660 has two positions. Figure 17 In one state, the lower transverse groove 161 is closed, and its side wall is parallel to the inner side of the corresponding connecting groove 163, thereby guiding the pin sleeve 642 along the connecting groove 163 into the upper transverse groove 162. During this process, the locking block 150 gradually moves upward, thereby releasing the pressure on the guide wire until the pin sleeve 642 enters the upper transverse groove 162 and the distance between the locking block 150 and the guide wire reaches the maximum. Figure 18 , which is another state, at this time the spring piece 660 closes the corresponding connecting groove 163 and its side wall is parallel to the inner wall of the lower transverse groove 161, so that the pin sleeve can be guided to move in the lower transverse groove 161, thereby keeping the locking block pressing the guide wire tightly. The states of the two spring pieces 660 are opposite, that is, the states of the spring pieces corresponding to the two connecting grooves 163 are different, such as Figure 20 .

[0029] See also Figure 20The pin sleeve 642 moves from the left side along the lower transverse groove 161 to the right side until it contacts and presses the right spring piece 660. It then squeezes the spring piece, causing it to elastically deform until it passes through the spring piece 660 and enters the rightmost end. The spring piece is reset under the action of its own elastic force. The pin sleeve 642 then moves from right to left, guided by the spring piece 660 into the connecting groove and finally into the upper transverse groove 162. It then moves along the upper transverse groove 162 to the top of the connecting groove 163 on the left side. It then moves along the left connecting groove 163 to the lower transverse groove 161 until it squeezes the left spring piece and passes through the left spring piece 660 and enters the leftmost end of the lower transverse groove 161. The leftmost spring piece 660 is reset by its own elastic force. This reciprocating process ensures that when moving from left to right, the locking block presses the guide wire, thereby driving the guide wire to move. However, after the pin sleeve enters the connecting groove and the upper transverse groove 162, when moving from right to left, the locking block does not press against the guide wire, thereby preventing the guide wire from moving in the opposite direction. In this embodiment, the switching of the guide wire into and out of the human body is achieved by switching the states of the spring sheets on both sides. Figure 20 The state of delivering the guide wire to the human body, Figure 16 This design is very simple and can achieve rapid switching between the two states of input and extraction. The principle is that when the guide wire needs to be delivered in a certain direction, the pin sleeve will move in the lower transverse groove 161 along the direction in which the locking block presses the guide wire, so that the guide wire and the delivery tube move together to complete the delivery of the guide wire. In the other direction, it enters the upper transverse groove to prevent the locking block from pressing the guide wire, thus preventing the delivery of the guide wire.

[0030] The delivery tube 410 can pass through the delivery hole 113. One end of the delivery tube 410 is assembled with the connecting plate 510, which is assembled with the housing of the tension and pressure sensor 240. The input end of the tension and pressure sensor 240 is assembled with the push-pull plate 520. The push-pull plate 520 is mounted on the outside of the delivery rod 450, which is installed in the housing 110. One end of the delivery rod 450 is connected to the output shaft of the delivery motor 270, which is installed in the housing. When the delivery motor 270 is activated, it drives the delivery rod 450 to rotate, thereby driving the push-pull plate 520 to move along its axial direction, which in turn drives the delivery tube to move synchronously. The delivery tube 410 is fitted to the fixed frame 140 and is assembled so as to prevent relative circumferential rotation.

[0031] The delivery rod 450 may be a screw or a reciprocating screw. If the delivery rod 450 is a screw, the push-pull plate 520 is provided with a screw hole or a screw sleeve and is screwed together with the delivery rod 450. If the delivery rod is a reciprocating screw, a slider is mounted on the push-pull plate 520. The slider engages and slides into the groove of the reciprocating screw. When the reciprocating screw rotates, the push-pull plate 520 moves back and forth along its axis.

[0032] The housing 110 also includes a guide tube 420 and a sleeve 430. The guide tube 420 passes through the sleeve 430 and is fixedly mounted thereto. One end of the guide tube 420 extends beyond the housing or is aligned parallel to the outer wall of the housing. In the initial state, the other end of the guide tube 420 abuts against the end of the delivery tube 410. A guide tube hole 421 extends through the guide tube 421. The guide wire passes through the guide tube hole 421 and enters the delivery tube hole 411, allowing the guide tube 420 to guide the guide wire 01 into the delivery tube hole 411. To load the guide wire, the pin sleeve is first driven into the upper transverse groove to prevent the locking block from interfering with the guide wire's passage. Then, one end of the guide wire is inserted through the guide tube hole 421 into the delivery tube hole 411, and finally, it is passed through the delivery tube and the housing for delivery into the human body. The delivery motor is then activated, and the positions of the two spring plates are adjusted to initiate the guide wire delivery state. During delivery, the torsion motor 260 can be activated to rotate the delivery tube 410, causing the guide wire to twist, thereby adjusting its direction.

[0033] See also Figure 1-Figure 2 、 Figure 4 、 Figure 8-Figure 9 、 Figure 12-13 A lever groove 121 is provided on the handle part 120, and an upper cover 122 is installed on the handle part. A lever 220 is installed in the lever groove 121. One end of the lever 220 is inserted into the handle part 120 and assembled with the rotating shaft 440. The rotating shaft 440 is assembled with the upper cover 122 and the shaft plate 123 for circular rotation. The upper cover 122 and the shaft plate 123 are both installed on the handle part 120. The rotating shaft 440 is assembled with the input end of the potentiometer 230, and the outer shell of the potentiometer 230 is installed in the handle part 120.

[0034] The end of the lever 220 is fitted or pressed against the friction plate 611 to provide damping for the rotation of the lever 220 . The friction plate 611 is mounted on the damping block 610 . The damping block 610 is engaged and slidably mounted in the damping groove 124 . The damping groove 124 is provided on the handle portion 120 .

[0035] The damping block 610 is affixed to or secured to one side of the airbag 620. The other side of the airbag 620 is pressed or secured to the pressure plate 252. The pressure plate 252 is assembled with the damping cylinder shaft 251, which is then installed within the damping cylinder 250. The airbag 620 is elastic, hollow, and filled with gas. When the damping cylinder 250 is activated, the damping cylinder shaft 251 is extended and retracted, thereby controlling the pressure applied by the pressure plate 252 to the airbag 620. This pressure is transmitted to the damping block 610 and the friction plate 611, increasing the pressure between the friction plate 611 and the lever 220. This increases the damping of the lever 220, allowing the operator to clearly feel the corresponding resistance, allowing them to quickly assess the current surgical situation and facilitate adjustments. The lever 220 is affixed to elastic plates 650 on either side. The elastic plates 650 are affixed to the handle 120. The elastic piece 650 exerts pressure on the lever to keep it in the initial state ( Figure 8 When the lever rotates, it pulls the elastic piece 650 on one side, thereby generating elastic force. After the lever 220 is subsequently released, this elastic force can assist the lever 220 in returning to its original position.

[0036] During use, the tension and pressure sensor 240 detects the tension and pressure applied to the delivery tube 410 during guidewire delivery. During guidewire delivery, the tension and pressure change significantly, meaning it increases. When a blood clot obstructs the delivery of the guidewire into the body, the pressure increases significantly. Upon receiving the signal, the main control chip, according to a pre-set program, activates the corresponding damping electric cylinder 250, driving the damping electric cylinder shaft 251 to move a corresponding amount. This compresses the airbag 620, increasing the pressure exerted by the damping block 610 on the lever 220. At this point, the rotational damping of the lever 220 increases significantly, alerting the operator. Of course, an indicator light or voice prompt can also be integrated to provide timely operator notifications. Rotation of the lever drives the input shaft of the potentiometer 230, which then transmits the rotation angle signal to the main control chip, which converts it into the displacement of the delivery tube. Because the dimensions of the components are fixed, controlling the rotation angle of the delivery rod 450 controls the displacement of the delivery tube, and the angle can be used as the delivery direction.

[0037] The damping electric cylinder 250, airbag 620, damping block 610, lever 220, potentiometer 230, and elastic sheet 650 constitute the lever module. Two lever modules exist, each controlling guidewire delivery and twisting. Guidewire twisting is controlled by the twisting motor 260. A torque sensor detects the torque signal and inputs it into the main control chip. The main control chip, using built-in software, converts the torque value into a displacement that drives the corresponding damping electric cylinder 250 and the damping electric cylinder shaft 251, allowing the operator to intuitively sense torque changes. The design in which the damping electric cylinder 250 squeezes the airbag 620 to adjust the lever's rotational damping amplifies subtle pressure and torque changes, allowing the operator to intuitively sense them. This is more intuitive and accurate than current torque controls or the physician's long-term experience, while also saving the physician's physical effort. This design also provides technical support for future intelligent systems. The torque sensor's torque direction corresponds to the direction of guidewire twisting, and the encoder's angle corresponds to the potentiometer's rotational angle.

[0038] This embodiment uses a delivery tube to transport the guidewire and a tension / pressure sensor to detect tension / pressure, rather than roller-rolling the guidewire. This is because roller-rolling guidewire delivery struggles to accurately detect subtle changes in resistance. Current tension / pressure sensors and torque sensors offer high detection accuracy and can meet this requirement. The airbag design allows for flexible adaptation to the displacement of the damping electric cylinder shaft 251 while also transmitting pressure. It also features a simple structure and low cost.

[0039] A button 210 is also installed on the handle part 120. There are three buttons 210. The two buttons close to the lever module are used to control the resistance ratio of the corresponding lever, such as converting the value output by the pull pressure sensor into the ratio of the displacement of the corresponding damping electric cylinder shaft 251, so that it can be flexibly adjusted according to the habits of different operators. The middle one is used to control the operation of the switching electric cylinder 280, thereby driving the switching frame 170 to move to achieve the switching of the conveying direction. Specifically, the signal of the button 210 is input to the main control chip, and the main control chip then controls the operation of the corresponding electric cylinder and motor. The main control chip is used to send and receive parsed control instructions and perform parameter calculations and program operation. MCU, PLC, CPU, etc. can be selected. The main control chip is installed in the outer shell or the handle part.

[0040] The operation process of this embodiment is roughly as follows: S1. The guide wire passes through the guide tube hole 421 and the delivery tube hole 411, then out of the housing and into the human body.

[0041] S2. Start the device and determine the state of the two spring sheets by the triggered micro switch to determine the conveying direction. If the conveying direction is incorrect, switch it by pressing the corresponding button 210. The damping amplification ratio can be adjusted by pressing the button 210.

[0042] S3, see Figure 8 , unfold the support legs 130 to support the entire device, then the left lever controls the twisting and the right lever controls the delivery. The two levers control the delivery and twisting of the guide wire respectively. The delivery lever is pulled forward to deliver the guide wire to the human body, and pushed backward to pull out the guide wire. When the lever is pulled forward all the time, the delivery tube will be controlled to carry the guide wire for delivery. After reaching the maximum formation, the delivery tube will be actively pulled back for the next delivery. This design makes it more convenient to use. The torsion lever is pulled forward for forward rotation and pushed backward for reverse rotation. Pulling it in a certain direction will control the fixed frame to rotate to the maximum angle, then stop the rotation and prompt the operator that it cannot be rotated further. This design is mainly to avoid operator error.

[0043] S4. When the guide wire needs to be pulled out, press the button that controls the switching electric cylinder to drive the switching frame to move and switch, and then push the lever that controls the delivery backward to pull out the guide wire. Of course, it can also be pulled out manually.

[0044] S5. During the operation, if manual operation is required or the effect cannot be achieved by using the device, the locking block can be controlled to loosen the guide wire, and then the guide wire can be manually operated. This is more flexible and can adapt to more situations.

[0045] It should be noted that, unless otherwise specified, the technical or scientific terms used in this application should have the common meanings understood by those skilled in the art to which this application belongs.

[0046] The above description is merely a preferred embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. An interventional guidewire-assisted delivery device, characterized by: It includes a shell, a delivery tube, and a handle part. The shell is provided with an output hole. A first sleeve is installed inside the shell. The inner side of the first sleeve is assembled with a fixing frame. The delivery tube and the fixing frame can be assembled and moved relative to each other in the axial direction; a delivery tube hole is provided inside the delivery tube, and the guide wire passes through the delivery tube hole; the delivery tube is driven to move directly or indirectly by a delivery motor to deliver the guide wire; The handle part is fixedly mounted on the housing, and an upper cover and a lever are mounted on the handle part. One end of the lever is inserted into the handle part and assembled with the rotating shaft. The rotating shaft is assembled with the upper cover and the shaft plate. The upper cover and the shaft plate are both mounted on the handle part. The lever is fitted or pressed against the friction plate to provide damping for the rotation of the lever. The friction plate controls the pressure between the lever and the lever through the damping electric cylinder. The pressure and tension of the conveying motor conveying the conveying tube are detected by the tension and pressure sensor, and then input into the main control chip. The main control chip converts it into a signal for controlling the operation of the damping electric cylinder according to the built-in program to control the operation of the corresponding damping electric cylinder, thereby controlling the pressure of the corresponding friction plate and the lever, that is, the rotational damping of the lever.

2. The interventional guidewire-assisted delivery device according to claim 1, characterized in that: The rotating shaft is assembled with the input end of the potentiometer, and the housing of the potentiometer is installed in the handle part; the friction plate is installed on the damping block, and the damping block is engaged and slidably installed in the damping groove, and the damping groove is arranged on the handle part; The damping block is tightly attached or fixed to one side of the airbag, and the other side of the airbag is pressed or fitted to the pressing plate. The pressing plate is assembled with the damping electric cylinder shaft, and the damping electric cylinder shaft is installed in the damping electric cylinder. The airbag is elastic, hollow inside and filled with gas.

3. The interventional guidewire-assisted delivery device according to claim 2, characterized in that: The outer wall of the first sleeve ring is provided with latch teeth to form a gear, which meshes with the driving teeth for transmission. The driving teeth are mounted on the torsion motor shaft, and one end of the torsion motor shaft is installed in the torsion motor; an encoder is mounted on the torsion motor shaft, and a torque sensor is installed and then installed in the torsion motor, and the torsion motor is installed in the housing; the encoder is used to detect the rotation angle of the driving teeth, and then the rotation angle of the fixed frame is calculated through the transmission ratio of the driving teeth and the gear to achieve precise control.

4. The interventional guidewire-assisted delivery device according to claim 3, characterized in that: The damping electric cylinder, the damping block and the lever constitute a lever module, and there are two lever modules. The levers of the two lever modules respectively control the conveying motor and the twisting motor. The torque sensor detects the torque during twisting and then inputs it into the main control chip. The main control chip converts the detected torque into a signal to control the operation of the corresponding damping electric cylinder according to the program to control the rotational damping of the lever used to control the twisting motor.

5. The interventional guidewire-assisted delivery device according to any one of claims 1 to 4, characterized in that: A guide plate is installed on the fixing frame, and a clamping groove is also provided on the conveying pipe. The clamping groove is engaged with the locking block and slidably assembled, and the locking block can be pressed tightly against the guide wire; The locking block is assembled with one end of the sliding shaft, and the other end of the sliding shaft is assembled with the locking block seat. A pin sleeve is directly or indirectly installed on the locking block seat. The pin sleeve is inserted into the guide groove of the guide plate and is engaged and slidably assembled therewith. The guide plate is installed on the fixed frame.

6. The interventional guidewire-assisted delivery device according to claim 5, characterized in that: The other end of the shaft passes through the cover plate, is fitted with a locking block spring and is assembled with a locking block seat. The cover plate is installed on the delivery pipe. The locking block spring applies an elastic force to the locking block seat away from the cover plate so that the locking block is away from the guide wire in the initial state.

7. The interventional guidewire-assisted delivery device according to claim 5, characterized in that: The guide groove includes a lower transverse groove, an upper transverse groove, and an inclined connecting groove that connects the two ends of the lower transverse groove and the upper transverse groove respectively. When the pin sleeve cooperates with the lower transverse groove, it will squeeze the locking block seat so that the locking block moves down and is pressed against the guide wire; when the pin sleeve cooperates with the upper transverse groove, the locking block does not contact the guide wire; spring sheets are respectively installed at the connection points between the lower transverse groove and the two connecting grooves, and the pin sleeve is guided to move in the guide groove through the spring sheets.

8. The interventional guidewire-assisted delivery device according to claim 7, characterized in that: The connection points between the lower transverse groove and the two connecting grooves are respectively hinged through a spring shaft and a spring sheet, the spring sheet is elastic, a switching gear is mounted on the spring shaft, the switching gear is meshed with a switching rack for transmission, the switching rack is mounted on the switching frame, a driving part is provided on the switching frame, the driving part is assembled with the switching cylinder shaft of the switching electric cylinder, and the switching electric cylinder is mounted on the fixed frame.

9. The interventional guidewire-assisted delivery device according to claim 8, characterized in that: The fixing frame is also provided with two micro switches at both sides of the driving part. When the driving part moves to two maximum displacement points, the corresponding micro switches are triggered respectively. The micro switches input signals into the main control chip. The main control chip determines the position of the driving part according to the triggered micro switches, thereby determining the position status of the two spring sheets. The spring sheet has two positions, one of which is to close the lower transverse groove, thereby guiding the pin sleeve to enter the upper transverse groove along the connecting groove; Another state is that the spring sheet closes the corresponding connecting groove; the states of the two spring sheets are opposite, that is, the states of the spring sheets corresponding to the two connecting grooves are different.

10. The interventional guidewire-assisted delivery device according to any one of claims 1 to 4, characterized in that: The conveying pipe is assembled with the connecting plate, the connecting plate is assembled with the housing of the tension pressure sensor, the input end of the tension pressure sensor is assembled with the push-pull plate, the push-pull plate is sleeved outside the conveying rod, the conveying rod is installed in the housing, and one end of the conveying rod is connected to the output shaft of the conveying motor, and the conveying motor is installed in the housing; The conveying rod is a screw rod or a reciprocating screw rod. When the conveying rod is a screw rod, a screw hole or a screw sleeve is provided on the push-pull plate and is assembled with the conveying rod through a threaded screw; when the conveying rod is a reciprocating screw rod, a slider is installed on the push-pull plate, and the slider is engaged and slid into the groove of the reciprocating screw rod. When the reciprocating screw rod rotates, it drives the push-pull plate to move back and forth along its axial direction.

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