Interventional execution device and surgical robot

Abstract

The application relates to an interventional execution device and a surgical robot. The interventional execution device comprises at least two levels of pushing modules and at least two levels of storage modules, each of which stores a group of guide wires and catheters, and each level of storage module matches one level of pushing module; each level of pushing module comprises a catheter pushing assembly, a Y valve rotating assembly and a guide wire pushing and twisting assembly arranged in sequence along a first direction, after the guide wires and catheters in the previous level of storage module are transported to a previous preset position by the previous level of pushing module, the guide wire pushing and twisting assembly withdraws the guide wire in the previous level of catheter; after the guide wire is withdrawn, the previous level of guide wire pushing and twisting assembly moves along a second direction perpendicular to the first direction, and the next level of pushing module moves along the first direction, so that the next level of catheter pushing assembly is connected with the previous level of Y valve rotating assembly, so as to transport the guide wires and catheters in the next level of storage module to a next preset position, and automatic connection of the guide wires and the catheters can be realized.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an interventional execution device and a surgical robot. Background Technology

[0002] Currently, vascular surgical robots have become an important tool to assist doctors in performing interventional surgeries. Robot-assisted vascular interventional surgery involves doctors controlling a robot via joysticks or handles, guided by a digital subtraction angiography (DSA) system, to move guidewires and catheters within the blood vessels to treat lesions and assist in surgical procedures. One of the key technologies in the development of vascular interventional surgical robots is the guidewire and catheter delivery device.

[0003] Typically, vascular surgery robots can only advance one type of guidewire or catheter at a time, requiring manual intervention to reconnect the guidewire and catheter midway. However, manual reconnection of the guidewire and catheter results in discontinuous surgery, increases surgical time, poses safety risks, has low automation levels, and affects operational convenience. Summary of the Invention

[0004] Therefore, it is necessary to provide an interventional execution device and surgical robot to address the problem that current vascular surgery robots cannot continuously deliver catheters and guidewires, thus requiring manual docking. This device can automatically push guidewires and catheters while automatically docking them, eliminating the need for manual intervention, ensuring surgical continuity, reducing safety risks, and guaranteeing ease of operation.

[0005] An intervention execution device, comprising:

[0006] At least two levels of push modules, wherein the at least two levels of push modules are spaced apart along a first direction; and

[0007] At least two levels of storage modules, each of the at least two levels of storage modules stores a set of guidewires and catheters, each level of storage module is matched with a level of push module, and at least two push modules are used to push the guidewires and catheters in the matched at least two levels of storage modules respectively;

[0008] Each of the pushing modules includes a catheter pushing assembly, a Y-valve rotating assembly, and a guidewire pushing and twisting assembly arranged sequentially along the first direction. After the previous pushing module delivers the guidewire and catheter in the previous storage module to the previous preset position, the guidewire pushing and twisting assembly withdraws the guidewire from the previous catheter.

[0009] After the guidewire is withdrawn, the guidewire pushing and twisting assembly of the previous stage moves along a second direction perpendicular to the first direction, and the pushing module of the next stage moves along the first direction, so that the catheter pushing assembly of the next stage docks with the Y-valve rotating assembly of the previous stage, so as to deliver the guidewire and catheter in the storage module of the next stage to the next preset position.

[0010] In one embodiment of this application, the guide wire pushing and twisting assembly includes a guide wire pushing and twisting mechanism and a retraction mechanism. The retraction mechanism is connected to the guide wire pushing and twisting mechanism and is used to drive the guide wire pushing and twisting mechanism to move along the second direction.

[0011] In one embodiment of this application, the retraction mechanism includes a first driving member and a first transmission member, the first transmission member being arranged along the second direction, and the first driving member being connected to the first transmission member to drive the guide wire pushing and twisting mechanism to move along the second direction;

[0012] The first driving member is disposed on the guide wire pushing and twisting assembly, and the first transmission member is drivingly connected to the Y valve rotating assembly and the first driving member; or, the first driving member is disposed on the Y valve rotating assembly, and the first transmission member is drivingly connected to the first driving member and the guide wire pushing and twisting assembly.

[0013] In one embodiment of this application, the guide wire pushing and twisting assembly further includes a force measuring mechanism, which is disposed below the guide wire pushing and twisting mechanism and is used to detect the resistance of the guide wire pushing and twisting mechanism in pushing the guide wire.

[0014] In one embodiment of this application, the retraction mechanism further includes a first guide mechanism and a first carrier plate, and the wire pushing and twisting assembly further includes a first mounting plate. The first guide mechanism is arranged along the second direction and includes a first guide member and a first mating member. The wire pushing and twisting mechanism is disposed on the first mounting plate, the first guide member is disposed on the first carrier plate, and the first mating member is disposed on the first mounting plate. The first guide member and the first mating member are slidably engaged.

[0015] In one embodiment of this application, the intervention execution device further includes a base plate, the storage module is disposed on the base plate, and the push module further includes a drive component, the drive component being tractively connected to the push module and the base plate to drive the push module to move along the first direction;

[0016] The driving component includes a second driving member and a second transmission member. The second driving member is disposed on the push module, and the second transmission member extends along the first direction. The second transmission member drivesly connects the second driving member and the base plate.

[0017] In one embodiment of this application, the driving assembly includes a second guiding mechanism and a second carrier plate. The second guiding mechanism is arranged along the first direction and includes a second guide member and a second mating member. The wire pushing and twisting assembly and the Y valve rotating assembly are disposed on the second carrier plate. The second guide member is disposed on the base plate. The second mating member is disposed on the second carrier plate. The second guide member and the second mating member are slidably engaged.

[0018] In one embodiment of this application, the catheter pushing assembly of the subsequent stage includes a first pushing mechanism and a guide tube. The first pushing mechanism is used to push the catheter. The guide tube is tapered, with the tip of the guide tube facing the distal end and the proximal end of the guide tube facing the first pushing mechanism. The tip of the guide tube can be guided and inserted into the Y-valve rotating assembly of the preceding stage. The guide tube is for the catheter of the subsequent stage to pass through.

[0019] In one embodiment of this application, the storage module includes a conduit storage assembly, which includes a base, a cover plate, a tensioning lever, and guide wheels. The cover plate covers the base and forms an installation cavity and an opening. The opening is located on the side of the installation cavity and communicates with the installation cavity. The guide wheels are symmetrically arranged on both sides of the opening. The tensioning lever is movable and symmetrically arranged on the base and tensions the conduit. The guide wheels extend out of the opening at both ends of the conduit.

[0020] In one embodiment of this application, the base has an inclined surface, the height of which gradually decreases from the middle of the base to both ends. The base has a sliding groove located in the inclined surface. The tensioning stop bar can slide in the sliding groove. When the tensioning stop bar moves to the middle region of the base, the guide tube disengages from the tensioning stop bar.

[0021] An interventional execution device includes: a first catheter pushing assembly, a first Y-valve rotating assembly, a second catheter pushing assembly, a second Y-valve rotating assembly, and a guide wire pushing and twisting assembly arranged coaxially and sequentially along a first direction;

[0022] The first catheter pushing component and the Y valve in the first Y valve rotating component clamp the first stage catheter, and the second catheter pushing component and the Y valve in the second Y valve rotating component clamp the second stage catheter. After the first catheter pushing component pushes the first stage catheter to a first preset position, the second catheter pushing component pushes the second stage catheter and the guidewire through the first stage catheter to a second preset position.

[0023] A surgical robot includes a control device and an interventional execution device as described in any of the above technical features, wherein the control device is controlled to the interventional execution device to control the interventional execution device to perform interventional operations.

[0024] The interventional execution device and surgical robot of this application include at least two-stage pushing modules and at least two-stage storage modules. Each storage module stores a catheter and a guidewire, and each storage module is matched with a first-level storage module. The pushing module is used to push the guidewire and catheter from the storage module. During surgery, the first-stage pushing module pushes the guidewire from the first-stage storage module into the catheter, and then delivers the guidewire and catheter to a first-stage preset position, withdrawing the guidewire from the first-stage catheter. Subsequently, the guidewire pushing and twisting component in the first-stage pushing module avoids the corresponding Y-valve rotating component along a second direction. Then, the second-stage pushing module moves along a first direction to mate the second-stage catheter pushing component with the first-stage Y-valve rotating component to deliver the guidewire and catheter to a second-stage preset position. The guidewire and catheter in the pushing module perform surgical operations.

[0025] After the first-stage pushing module completes its delivery, the guidewire is withdrawn and connected to the catheter pushing assembly and the Y-valve rotating assembly. This process is repeated until the final pushing module delivers the catheter and guidewire into position. In this way, the interventional device can automatically push and connect the guidewire and catheter simultaneously, eliminating the need for manual intervention, ensuring surgical continuity, reducing safety risks, and guaranteeing ease of operation. With at least two pushing and storage modules, the surgeon can select the appropriate number of modules based on the thickness of the lesion. For thicker lesions, fewer modules are used to ensure the catheter and guidewire reach the preset position; for thinner lesions, more modules are used to ensure the guidewire and catheter reach the preset position smoothly. This meets the requirements of surgery at different lesion locations, preventing the guidewire and catheter from failing to reach the lesion or damaging it, thus ensuring surgical safety. Furthermore, the storage module stores the guidewire and catheter, while the pushing module allows for the pushing and retraction of the guidewire and catheter to meet surgical requirements. Attached Figure Description

[0026] Figure 1 This is a perspective view of an intervention execution device according to an embodiment of this application.

[0027] Figure 2 To adopt Figure 1 The diagram shows an interventional device used in surgery.

[0028] Figure 3 This is a schematic diagram of the intervention execution device in another embodiment of this application.

[0029] Figure 4This is a schematic diagram of the third embodiment of the intervention execution device in this application.

[0030] Figure 5 for Figure 1 A schematic diagram of the catheter pushing component in the pushing module of the interventional device shown.

[0031] Figure 6 for Figure 5 The diagram shows the catheter delivery assembly releasing the catheter.

[0032] Figure 7 for Figure 5 The diagram shows the cut-opening of the conduit delivery assembly during docking.

[0033] Figure 8 for Figure 5 A schematic diagram of another embodiment of the catheter delivery assembly shown.

[0034] Figure 9 for Figure 1 A schematic diagram of the Y-valve rotation assembly in the push module of the intervention actuator shown.

[0035] Figure 10 for Figure 9 A partial exploded view of the Y-valve rotary assembly shown.

[0036] Figure 11 for Figure 9 The diagram shows the installation of guide wires and conduits in the Y-valve.

[0037] Figure 12 for Figure 1 A schematic diagram of the guide wire pushing and twisting assembly in the pushing module of the intervention actuator shown.

[0038] Figure 13 for Figure 12 A schematic diagram of another embodiment of the guide wire pushing and twisting assembly shown.

[0039] Figure 14 for Figure 12 The diagram shows another embodiment of the guide wire pushing and twisting assembly.

[0040] Figure 15 for Figure 6 The diagram shows a schematic representation of one embodiment of the guide wire pushing and twisting assembly.

[0041] Figure 16 for Figure 6 The diagram shown is a schematic of another embodiment of the guide wire pushing and twisting assembly.

[0042] Figure 17 for Figure 1 A schematic diagram of the drive component of the push module in the intervention execution device shown.

[0043] Figure 18 for Figure 1 A schematic diagram of the guide wire storage module in the storage module of the interventional device shown.

[0044] Figure 19 for Figure 1 A schematic diagram of the conduit storage component in the storage module of the interventional device shown, with the cover removed.

[0045] Figure 20 for Figure 19 The side view of the conduit storage assembly shown.

[0046] Figure 21 for Figure 1 The flowchart shown is a working diagram of the intervention execution device. Detailed Implementation

[0047] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0048] See Figures 1 to 4 This application provides an interventional execution device 1. This interventional execution device 1 is used in a surgical robot. The interventional execution device 1 can carry surgical instruments, and the surgical robot can control the interventional execution device 1 to perform interventional operations. Here, the surgical instruments refer to the catheter 2 and guidewire 3, and the surgical robot is a vascular interventional robot. Of course, in other embodiments of this application, the surgical instruments may also be other components that need to be inserted into the patient's body. During the operation, the interventional execution device 1 pushes the guidewire 3 and catheter 2 to the lesion site to perform the operation at the lesion site.

[0049] Understandably, current vascular surgery robots can only push one set of guidewires or catheters at a time, requiring manual intervention to change them midway. However, when manually changing guidewires or catheters, the interventional execution device needs to be stopped, resulting in discontinuous surgical operation, increased surgical time, safety hazards, low automation, and affecting operational convenience. Therefore, the interventional execution device 1 provided in this application can automatically dock the guidewire 3 and catheter 2 without manual intervention, ensuring surgical continuity, reducing safety hazards, and simultaneously meeting the requirements of lesion location surgery, preventing the guidewire 3 and catheter 2 from failing to reach the lesion location or damaging the lesion location, thus ensuring surgical safety. The specific structure of the interventional execution device 1 according to one embodiment is described below.

[0050] See Figures 1 to 3 In one embodiment, the interventional execution device 1 includes at least two levels of pushing modules A and at least two levels of storage modules B. The at least two levels of pushing modules A are spaced apart along a first direction. The at least two levels of storage modules B respectively store two sets of guidewires 3 and catheters 2. Each level of storage module B matches a corresponding level of pushing module A, and at least two pushing modules A are used to push the guidewires 3 and catheters 2 from the matched at least two levels of storage modules B. Each level of pushing module A includes a catheter pushing assembly 200, a Y-valve rotating assembly 400, and a guidewire pushing and twisting assembly 300 arranged sequentially along the first direction. After the previous level of pushing module A delivers the guidewires 3 and catheters 2 from the previous level of storage module B to a previous preset position, the guidewire pushing and twisting assembly 300 withdraws the guidewire 3 from the previous level of catheter 2. After the guidewire is withdrawn, the first-stage guidewire pushing and twisting assembly 300 moves along a second direction perpendicular to the first direction, and the second-stage pushing module A moves along the first direction, so that the second-stage catheter pushing assembly 200 docks with the first-stage Y-valve rotating assembly 400, so as to deliver the guidewire 3 and catheter 2 in the second-stage storage module B to the next preset position.

[0051] like Figure 1 As shown, the first direction is the X direction, which is perpendicular to the second direction, the Y direction, and the third direction is the Z direction, which is the up-down direction. The second and third directions will be discussed later. Furthermore, in this application, the proximal end refers to the end of the interventional execution device 1 closest to the surgeon, and the distal end refers to the end of the interventional execution device 1 furthest from the surgeon. The terms proximal and distal end apply to all components of the interventional execution device 1. For example... Figure 1 As shown, the left side of the intervention device 1 is the distal end, the right side is the proximal end, and the direction of the line connecting the proximal end and the distal end is the first direction.

[0052] Storage module B stores guidewire 3 and catheter 2, while push module A is used to push guidewire 3 and catheter 2. There are at least two storage modules B and at least two push modules A, spaced apart along a first direction. At least two storage modules B are also spaced apart along the first direction, and each push module A corresponds to one storage module B. That is, the guidewire 3 and catheter 2 in the corresponding storage module B are pushed to a preset position via push module A. The cooperation of multi-level storage modules B and multi-level push modules A enables the step-by-step pushing of multi-level catheters 2, ultimately delivering the catheter 2 in the final storage module B to the preset position for treatment of the lesion at that location.

[0053] See Figures 1 to 4The pushing module A includes a catheter pushing assembly 200, a guidewire pushing and twisting assembly 300, and a Y-valve rotating assembly 400. The Y-valve rotating assembly 400 houses a Y-valve 4 and drives the Y-valve 4 to rotate. The catheter pushing assembly 200 and the guidewire pushing and twisting assembly 300 are located on opposite sides of the Y-valve rotating assembly 400 and are coaxially arranged. The distal end of the catheter 2 is clamped in the catheter pushing assembly 200, and the proximal end is connected to the Y-valve 4. The catheter pushing assembly 200 pushes the catheter 2, and the guidewire pushing and twisting assembly 300 clamps the distal end of the guidewire 3, pushing the guidewire 3 into the catheter 2. Figures 1 to 4 As shown, the catheter pushing assembly 200, the Y-valve rotating assembly 400, and the guidewire pushing and twisting assembly 300 are arranged along a first direction on the base plate 100 and are coaxially configured to facilitate the passage of the guidewire 3 and catheter 2 through the guidewire 3 pushing assembly, the Y-valve rotating assembly 400, and the guidewire pushing and twisting assembly 300. The catheter pushing assembly 200 is used to push the catheter 2, and the pushing assembly 200 clamps the distal end of the catheter 2. The proximal end of the catheter 2 is connected to the Y-valve rotating assembly 400, which drives the Y-valve 4 to rotate. The distal end of the guidewire 3 is clamped in the guidewire pushing and twisting assembly 300, which is used to push and twist the guidewire 3. During surgery, the catheter pushing assembly 200 pushes the catheter 2, and the guidewire pushing and twisting assembly 300 pushes the guidewire 3, pushing the guidewire 3 into the catheter 2. The catheter delivery assembly 200 and the guidewire delivery and twisting assembly 300 simultaneously deliver the catheter 2 and guidewire 3 into the patient's body. Once the catheter 2 and guidewire 3 have reached a preset position, the guidewire delivery and twisting assembly 300 controls the guidewire 3 to retract. During catheter 2 delivery, the Y-valve rotation assembly 400 controls the Y-valve 4 to rotate the catheter 2. During guidewire 3 delivery, the guidewire delivery and twisting assembly 300 twists the guidewire 3.

[0054] When the interventional execution device 1 of this application is working, the first-stage pushing module A pushes the guidewire 3 in the first-stage storage module B into the catheter 2, and pushes the first-stage catheter 2 and guidewire 3 to a first-stage preset position. Subsequently, the pushing module A withdraws the first-stage guidewire 3 from the first-stage catheter 2. Then, the first-stage guidewire pushing and twisting assembly 300 moves along a second direction perpendicular to the first direction, and the second-stage pushing module A moves along the first direction, so that the second-stage catheter pushing assembly 200 docks with the first-stage Y-valve rotating assembly 400 to push the second-stage catheter 2 to a second-stage preset position to facilitate surgical operations. That is to say, the cooperation between at least one-stage pushing module A and storage module B before the final stage is for the step-by-step pushing of catheter 2 and guidewire 3, so that catheter 2 can reach thinner blood vessels, and the final-stage pushing module A and storage module B can push catheter 2 and guidewire 3 to the preset position.

[0055] It is worth noting that the number of storage module B and push module A is not limited in principle, as long as they can deliver the terminal catheter 2 and guidewire 3 to the preset position. The following describes the structural forms of storage module B and push module A in several embodiments.

[0056] Optionally, at least two storage modules B include a first-level storage module B1 and a second-level storage module B2. The first-level storage module B1 stores a first-level guidewire and a first-level catheter, and the second-level storage module B2 stores a second-level guidewire and a second-level catheter. At least two push modules A include a first-level push module A1 and a second-level push module A2. The first-level storage module B1 is set corresponding to the first-level push module A1, and the second-level storage module B2 is set corresponding to the second-level push module A2. Accordingly, in this embodiment, there are two preset positions, namely a first preset position and a second preset position, with the second preset position corresponding to the lesion position. After the first-level guidewire is inserted into the first-level catheter, the first-level push module A1 pushes it to the first preset position and then withdraws the first-level guidewire. Then, the guidewire pushing and twisting assembly 300 in the first-stage pushing module A1 moves along the second direction, and the second-stage pushing module A2 moves along the first direction, so that the catheter pushing assembly 200 in the second-stage pushing module A2 aligns with the Y-valve rotating structure 400 in the first-stage pushing module A1. Subsequently, after the second-stage guidewire is inserted into the second-stage catheter, the second-stage pushing module A2 pushes it to the second preset position. At this time, the second-stage guidewire and the second-stage catheter are used for surgery at the second preset position. At this time, the second-stage catheter and the second-stage guidewire can be inserted into larger blood vessels for surgical operations, such as liver cancer artery embolization surgery and coronary intervention surgery.

[0057] Optionally, at least two storage modules B include a first-level storage module B1, a second-level storage module B2, and a third-level storage module B3. The first-level storage module B1 stores a first-level guidewire and a first-level catheter, the second-level storage module B2 stores a second-level guidewire and a second-level catheter, and the third-level storage module B3 stores a third-level guidewire and a third-level catheter. At least two push modules A include a first-level push module A1, a second-level push module A2, and a third-level push module A3. The first-level storage module B1 corresponds to the first-level push module A1, and the second-level storage module B2 corresponds to the second-level push module A. Accordingly, in this embodiment, there are three preset positions: a first preset position, a second preset position, and a third preset position, with the third preset position corresponding to the lesion position. After the first-level guidewire is inserted into the first-level catheter, the first-level push module A1 pushes it to the first preset position and then withdraws the first-level guidewire. Then, the guidewire pushing and twisting assembly 300 in the first-stage pushing module A1 moves along the second direction, and the second-stage pushing module A2 moves along the first direction, so that the catheter pushing assembly 200 in the second-stage pushing module A2 aligns with the Y-valve rotating structure 400 in the first-stage pushing module A1. Subsequently, after the second-stage guidewire is inserted into the second-stage catheter, the second-stage pushing module A2 pushes it to the second preset position and then withdraws the second-stage guidewire. Then, the guidewire pushing and twisting assembly 300 in the second-stage pushing module A2 moves along the second direction, and the third-stage pushing module A3 moves along the first direction, so that the catheter pushing assembly 200 in the third-stage pushing module A3 aligns with the Y-valve rotating structure 400 in the second-stage pushing module A2. Subsequently, after the third-stage guidewire is inserted into the third-stage catheter, the third-stage pushing module A3 pushes it to the third preset position. At this time, the third-stage guidewire and the third-stage catheter are used for surgery at the third preset position. At this time, the third-stage guidewire and the third-stage catheter can be inserted into thinner blood vessels for interventional surgical operations, such as neurosurgical interventions.

[0058] Of course, in other embodiments of this application, there may be four or more of the at least two-stage push modules A and the at least two-stage storage modules B. When there are N at least two-stage push modules A and N at least two-stage storage modules B, the first N-1 push modules An-1 and storage modules Bn-1 deliver the first N-1 sets of conduits 2 and guide wires 3 to the preset position, then withdraw the guide wires 3, and perform retraction and docking. Finally, the Nth push module An and storage module Bn deliver the Nth set of conduits 2 and guide wires 3 to the preset position to perform manual operation.

[0059] In the above-described embodiment, during surgery, after the first-stage pushing module A completes its push, the guidewire 3 is withdrawn. This process is repeated until the final pushing module A delivers the catheter 2 and guidewire 3 into position. This achieves automatic docking of at least two sets of guidewires 3 and catheters 2 without manual intervention, ensuring surgical continuity, reducing safety risks, and guaranteeing ease of operation. The surgeon can select an appropriate number of pushing modules A and storage modules B based on the thickness of the lesion location to ensure that the guidewire 3 and catheter 2 can smoothly reach the preset position, preventing them from failing to reach the lesion or damaging it, thus ensuring surgical safety. Furthermore, the storage module B can store the guidewire 3 and catheter 2, while the pushing module A can handle the pushing and withdrawing of the guidewire 3 and catheter 2 to meet surgical requirements.

[0060] In one embodiment, the interventional execution device 1 further includes a base plate 100, on which the pushing module A and the storage module B are disposed. The base plate 100 is flat, extends along a first direction, and has a certain dimension in a second direction, forming a plate-like structure. Multiple pushing modules A and storage modules B are spaced apart along the first direction on the base plate 100, with the base plate 100 supporting the pushing modules A and storage modules B. Optionally, the bottom of the base plate 100 has a fixing component, which fixes the base plate 100 to the support arm of the surgical robot. Optionally, the fixing component is a fixing plate or a fixing bracket, etc.

[0061] The following text will only describe push module A and storage module B as two or three, and will first describe the specific structure of push module A and storage module B, and then explain the specific application of push module A and storage module B as two or three.

[0062] See Figures 5 to 8 The catheter pushing assembly 200 includes a first clamping mechanism 220 and a first pushing mechanism 210. The first clamping mechanism 220 can control the first pushing mechanism 210 to clamp or release the catheter 2, and the first pushing mechanism 210 is used to push the catheter 2. The first pushing mechanism 210 and the first clamping mechanism 220 are disposed on a fourth mounting plate 230 (mentioned later). After the first clamping mechanism 220 controls the first pushing mechanism 210 to release, the distal end of the catheter 2 can be placed in the first pushing mechanism 210, and the first clamping mechanism 220 controls the first pushing mechanism 210 to clamp the distal end of the catheter 2. At this time, the first pushing mechanism 210 can push the catheter 2. When the first clamping mechanism 220 controls the first pushing mechanism 210 to release, the first pushing mechanism 210 releases the catheter 2, and the catheter 2 is withdrawn. The first clamping mechanism 220 can control the first pushing mechanism 210 to clamp or release the conduit 2. While facilitating the installation and disassembly of the conduit 2, it can also ensure that the first pushing mechanism 210 can reliably clamp the conduit 2, preventing the conduit 2 from detaching, thereby ensuring the reliability of the conduit 2 delivery process.

[0063] See Figures 5 to 8 The conduit pushing assembly 200 also includes a fourth mounting plate 230. The first pushing mechanism 210 includes a first driving wheel 211, a first driven wheel 212, and an eighth driving member 213. The eighth driving member 213 is disposed on the fourth mounting plate 230 and is connected to the first driving wheel 211. The first driving wheel 211 is rotatably disposed on the fourth mounting plate 230. The first driven wheel 212 is rotatably disposed on the first clamping mechanism 220. The first clamping mechanism 220 drives the first driven wheel 212 to move closer to or away from the first driving wheel 211. The fourth mounting plate 230 is mounted on the base plate 100 and is located below the first pushing mechanism 210. The fourth mounting plate 230 supports the components of the first pushing mechanism 210, facilitating installation and enabling the overall movement of the conduit pushing assembly 200.

[0064] The first passive wheel 212 is rotatably mounted on the first clamping mechanism 220. When the first clamping mechanism 220 moves, it can drive the first passive wheel 212 to move closer to or away from the first active wheel 211. After the first passive wheel 212 moves closer to the first active wheel 211, the first active wheel 211 and the second active wheel 311 can clamp the conduit 2. When the eighth driving member 213 drives the first active wheel 211 to rotate, it can drive the conduit 2 to move, realizing the pushing or retraction of the conduit 2. It is worth noting that the first active wheel 211 and the first passive wheel 212 can form a friction wheel group to alternately push the conduit 2.

[0065] In one embodiment, the eighth driving member 213 is a motor. The fourth mounting plate 230 also includes a first extension plate, on which the eighth driving member 213 is disposed. The first extension plate is located above the fourth mounting plate 230, and the first drive wheel 211 is rotatably disposed on the first extension plate. The output end of the eighth driving member 213 and the input end of the first drive wheel 211 are connected in space between the eighth driving member 213 and the first extension plate. This facilitates the transmission connection between the eighth driving member 213 and the first drive wheel 211, reducing the space occupied. The eighth driving member 213 and the first drive wheel 211 are connected via gears or belt drives, etc.

[0066] The number of the first passive wheel 212 can be one or more. For example... Figure 5 As shown, the number of the first passive wheel 212 is one. Figure 8 As shown, there are two first passive wheels 212. Thus, the two first passive wheels 212 allow the conduit 2 to fit more closely with the first active wheel 211, preventing slippage and thereby increasing the pushing force. Of course, in other embodiments of this application, the number of first passive wheels 212 can also be different.

[0067] See Figures 5 to 8The first clamping mechanism 220 includes a second driving member 221, a fourth transmission member 222, and a first support plate 223. The second driving member 221 is disposed on the fourth mounting plate 230, and the fourth transmission member 222 connects the second driving member 221 and the first support plate 223. The first driven wheel 212 is rotatably disposed on the first support plate 223. The second driving member 221 is the power source of the first clamping mechanism 220. The output end of the second driving member 221 is connected to the first support plate 223 through the fourth transmission member 222. The first driven wheel 212 is rotatably disposed on the first support plate 223. The second driving member 221 can drive the first support plate 223 to move through the fourth transmission member 222, causing the first support plate 223 to move towards or away from the first driving wheel 211, thereby enabling the first driven wheel 212 to move towards the first driving wheel 211, so that the first driving wheel 211 and the first driven wheel 212 can clamp or release the conduit 2.

[0068] Moreover, the first drive wheel 211 is in Figure 5 When rotated clockwise, the first driving wheel 211 drives the conduit 2 and the first driven wheel 212 to rotate synchronously, pushing the conduit 2. When rotated counterclockwise, the first driving wheel 211 drives the conduit 2 and the first driven wheel 212 to rotate synchronously, retracting the conduit 2. Optionally, the second driving member 221 is a motor. Optionally, the fourth transmission member 222 is a structure capable of outputting linear motion, such as a gear and rack transmission assembly, a belt transmission assembly, a chain transmission assembly, or a ball screw assembly, etc. Of course, in other embodiments of this application, the second driving member 221 and the fourth transmission member 222 can also be in the form of a linear driving member directly connected to the first support plate 223. Optionally, the first support plate 223 has a plate-like structure. Of course, the first support plate 223 can also be other structures capable of supporting the first driven wheel 212.

[0069] See Figures 5 to 8The subsequent catheter delivery assembly 200 also includes a tapered guide tube 240, with its tip pointing distally (to the patient) and its proximal end pointing towards the first delivery mechanism 210. The tip of the guide tube 240 can be guided into the preceding Y valve 4, and the guide tube 240 is for the subsequent catheter 2 to pass through. In other words, the guide tube 240 is located within the subsequent catheter delivery assembly 200. After the preceding guidewire delivery and twisting assembly 300 avoids the path in the second direction, the subsequent catheter delivery assembly 200 connects to the Y valve in the preceding Y valve rotating assembly 400 via the guide tube, facilitating the delivery of the subsequent catheter 2. Specifically, the axis of the guide tube 240 is located between the first driving wheel 211 and the first driven wheel 212, and the guide tube 240 is mounted on the first plate 230. When the downstream conduit push assembly 200 moves along the first direction, the tip of the guide tube 240 can extend into the Y valve 4 of the upstream Y valve rotation assembly 400. Then, when the first driving wheel 211 and the first passive wheel 212 push the downstream conduit 2, the distal end of the downstream conduit 2 can pass through the guide tube 240 and extend into the upstream conduit 2 held by the upstream Y valve 4.

[0070] Optionally, the push module A further includes a second carrier plate, which is slidably disposed on the base plate 100. The first push mechanism 210 and the first clamping mechanism 220 are disposed on the second carrier plate. In this way, the second carrier plate can drive the first push mechanism 210 to move along a first direction to approach or move away from the Y valve rotating assembly 400 in the previous stage push module A, so that the conduit 2 can extend into the previous stage conduit 2 through the Y valve 4, thereby facilitating the entry of the subsequent stage conduit 2 into the previous stage conduit 2.

[0071] It is worth noting that the guide push component in the first-stage push module A1 does not have a second carrier plate and a guide tube 240. That is, the conduit push component 200 in the first push module A does not need to move along the base plate 100, nor does it need to be connected to the Y valve 4 at the remote end. In this application, the guide push component of the push module A other than the first stage has a guide tube 240 and a second carrier plate.

[0072] See Figures 9 to 11 The Y-valve rotating assembly 400 includes a second mounting plate 410, a clamping seat 420, and a rotating mechanism 430. The rotating mechanism 430 is disposed on the second mounting plate 410. The Y-valve 4 is rotatably mounted in the clamping seat 420. The distal end of the Y-valve 4 is connected to the rotating mechanism 430 and rotates with the rotating mechanism 430. The second mounting plate 410 is a mounting component of the Y-valve rotating assembly 400. All components of the Y-valve rotating assembly 400 are mounted on the second mounting plate 410, which is mounted on the base plate 100.

[0073] A rotating mechanism 430 is mounted on the second mounting plate 410 and is capable of outputting rotational motion. A clamping seat 420 has a groove in which a Y-valve 4 is installed. The output end of the rotating mechanism 430 is connected to the distal end of the Y-valve 4 to drive the Y-valve 4 to rotate within the groove of the clamping seat 420. Since the distal end of the Y-valve 4 is connected to the proximal end of the catheter 2, the rotation of the Y-valve 4 can drive the catheter 2 to rotate, thereby adjusting the angle of the catheter 2 in the blood vessel. The proximal end of the catheter 2 and the distal end of the Y-valve 4 are connected by a threaded connection or a snap-fit ​​connection, as long as the connection is reliable. Understandably, before surgery, the operator manually clamps the distal end of the catheter 2 between the first active wheel 211 and the first passive wheel 212, connecting the proximal end of the catheter 2 to the distal end of the Y-valve 4.

[0074] See Figures 9 to 11 The rotating mechanism 430 includes a gear set 431, a third driving member 432, and a transmission gear 4311. The third driving member 432 and the gear set 431 are disposed on the second mounting plate 410. The third driving member 432 is connected to the transmission gear 4311 through the gear set 431. The clamping seat 420 is disposed on the gear set 431. The Y valve 4 is rotatably mounted in the clamping seat 420. The distal end of the Y valve 4 is mounted on the transmission gear 4311.

[0075] Gear set 431 and third drive member 432 are disposed on second mounting plate 410. Clamping seat 420 is disposed above gear set 431, and Y valve 4 is installed in clamping seat 420. The output end of third drive member 432 is connected to the input end of gear set 431. The output end of gear set 431 meshes with transmission gear 4311. Transmission gear 4311 is sleeved on the distal end of Y valve 4 and can drive Y valve 4 to rotate. When third drive member 432 moves, third drive member 432 can drive transmission gear 4311 to rotate through gear set 431. When transmission gear 4311 can rotate, it can drive Y valve 4 to rotate synchronously, so that Y valve 4 can drive conduit 2 to rotate.

[0076] Optionally, the third drive element 432 is a motor. Optionally, the gear set 431 includes a housing and a transmission assembly, which includes multiple gears that mesh to form the transmission assembly. The input end of the transmission assembly is connected to the third drive element 432, and the output end of the transmission assembly is meshed with the transmission gear 4311. In this way, the space occupied can be reduced without affecting the transmission effect.

[0077] See Figure 12 The guide wire pushing and twisting assembly 300 includes a guide wire twisting mechanism, specifically including a second clamping mechanism 320 and a second pushing mechanism 310. The second clamping mechanism 320 can control the second pushing mechanism 310 to clamp or release the guide wire 3, and the second pushing mechanism 310 is used to push the guide wire 3.

[0078] The second clamping mechanism 320 and the second pushing mechanism 310 are disposed on the base plate 100. After the second clamping mechanism 320 controls the first pushing mechanism 210 to release, the distal end of the guide wire 3 can be placed in the second pushing mechanism 310. The second clamping mechanism 320 controls the second pushing mechanism 310 to clamp the distal end of the guide wire 3, thereby pushing the guide wire 3. The second clamping mechanism 320 can control the second pushing mechanism 310 to clamp or release the guide wire 3, which facilitates the installation and removal of the guide wire 3, and also ensures that the second pushing mechanism 310 can reliably clamp the guide wire 3, preventing the guide wire 3 from falling off, thereby ensuring the reliability of the guide wire 3 conveying process.

[0079] See Figures 12 to 14 The guide wire pushing and twisting assembly 300 also includes a third mounting plate 330. The second pushing mechanism 310 includes a second driving wheel 311, a second driven wheel 312, and a fourth driving member 313. The fourth driving member 313 is disposed on the third mounting plate 330 and is connected to the second driving wheel 311. The second driven wheel 312 is disposed on the second clamping mechanism 320, which drives the second driven wheel 312 to move closer to or away from the second driving wheel 311. The third mounting plate 330 is located above the base plate 100 and below the second pushing mechanism 310. The third mounting plate 330 supports the components of the second pushing mechanism 310, facilitating installation and overall movement of the second pushing mechanism 310.

[0080] The second driving wheel 311 is rotatably mounted on the third mounting plate 330. The fourth driving member 313 is mounted on the third mounting plate 330 and is connected to the second driving wheel 311 in a transmission manner. The fourth driving member 313 can drive the second driving wheel 311 to rotate. The second driven wheel 312 is rotatably mounted on the second clamping mechanism 320. When the second clamping mechanism 320 moves, it can drive the second driven wheel 312 to move closer to or away from the second driving wheel 311. After the second driven wheel 312 moves closer to the second driving wheel 311, the second driving wheel 311 can clamp the guide wire 3. When the second driving member 221 drives the second driving wheel 311 to rotate, it can drive the guide wire 3 to move, realizing the pushing or retraction of the guide wire 3. It is worth noting that the second driving wheel 311 and the second driven wheel 312 can form a friction wheel group to alternately push and twist the guide wire 3.

[0081] Optionally, the fourth driving member 313 is connected to the second driving wheel 311 via a gear or belt drive. The number of second driven wheels 312 can be one or more. For example... Figure 13 and Figure 14 As shown, the number of the second passive wheel 312 is one; as Figure 12As shown, there are two second passive wheels 312. Two second passive wheels 312 allow the guide wire 3 to fit more closely with the second active wheel 311, thereby increasing the pushing force. Of course, in other embodiments of this application, the number of second passive wheels 312 can also be other.

[0082] In one embodiment, the first mounting plate 340 of the guide wire pushing and twisting assembly 300 is located below the third mounting plate 330, and the second clamping mechanism 320 is disposed on the first mounting plate 340. The output end of the fourth driving member 313 and the input end of the second driving wheel 311 are located between the third mounting plate 330 and the first mounting plate 340. The second clamping mechanism 320 includes a fifth driving member, a third transmission member, and a second support plate. The fifth driving member is disposed on the first mounting plate 340, the second support plate is supported on the first mounting plate 340, the second driven wheel 312 is rotatably disposed on the second support plate, and the third transmission member drives the fifth driving member and the second support plate. The second clamping mechanism 320 can drive the second driven wheel 312 to move closer to or away from the second driving wheel 311. The fifth driving member can drive the second support plate to move through the third transmission member, so that the second support plate moves toward or away from the second driving wheel 311, thereby enabling the second passive wheel 312 to move toward or away from the second driving wheel 311, so that the second driving wheel 311 and the second passive wheel 312 can clamp or release the guide wire 3.

[0083] Optionally, the fifth driving component is a motor. Optionally, the second clamping mechanism 320 also includes a support rod, which is disposed on the side plate of the second support plate. The top of the support rod has a through hole through which the guide wire 3 passes. Optionally, the third transmission component is a structure capable of outputting linear motion, such as a gear and rack transmission assembly, a belt transmission assembly, a chain transmission assembly, or a ball screw assembly, etc. Of course, in other embodiments of this application, the fifth driving component and the third transmission component may also adopt a structure in which the linear driving component is directly connected to the second support plate. Optionally, the second support plate is in the form of a plate-shaped assembly. Of course, the second support plate may also be other structures capable of supporting the second driven wheel 312.

[0084] See Figure 12 The guide wire pushing and twisting assembly 300 also includes a force measuring mechanism 350, which is located below the guide wire pushing and twisting mechanism and is used to detect the resistance when the guide wire pushing and twisting mechanism pushes the guide wire 2. Specifically, the force measuring mechanism 350 is located below the second driven wheel 312 and is connected to the second clamping mechanism 320. The force measuring mechanism 350 is located on the first mounting plate 340, the second driven wheel 312 is rotatably mounted on the force measuring mechanism 350 and located above the force measuring mechanism 350, the second support plate is connected to the force measuring mechanism 350, and the force measuring mechanism 350 is also connected to the first mounting plate 340, through which the first mounting plate 340 supports the force measuring mechanism 350.

[0085] When the second driving wheel 311 rotates, it applies a force to the guide wire 3 and the second driven wheel 312. This force is then transmitted to the force measuring mechanism 350. Thus, the force measuring mechanism 350 provides force feedback, enabling resistance feedback during the guide wire 3's advancement process to detect resistance during the pushing process. Of course, in other embodiments of this application, the force measuring mechanism 350 can be omitted to reduce the height of the second driven wheel 312, making it suitable for scenarios with height limitations.

[0086] See Figure 12 The force measuring mechanism 350 includes a mounting base 351 and a force measuring component 352. A second driven wheel 312 is rotatably mounted on the mounting base 351 and connected to a second support plate. One end of the force measuring component 352 is connected to the mounting base 351, and the other end is connected to the second support plate. When the second driving wheel 311 rotates, it applies a force to the guide wire 3 and the second driven wheel 312. The second driven wheel 312, under this force, drives the mounting base 351 to move. The force measuring component 352 can then detect the force acting on the second driving wheel 311 to detect the resistance during the guide wire 3's advancement. Optionally, the force measuring component 352 can be a force sensor or other force-measuring component.

[0087] See Figures 12 to 14 The guide wire pushing and twisting assembly 300 also includes a twisting mechanism 360, which is connected to the second pushing mechanism 310 to drive the second drive wheel 311 to reciprocate axially. Specifically, the twisting mechanism 360 is disposed on the first mounting plate 340, and the output end of the twisting mechanism 360 is connected to the third mounting plate 330, which in turn connects to the second drive wheel 311. Thus, when the twisting mechanism 360 outputs movement, it can drive the second drive wheel 311 to reciprocate along a third direction (vertical direction, axial direction) through the third mounting plate 330, so that the second drive wheel 311 can twist the guide wire 3, causing the guide wire 3 to deflect and move.

[0088] See Figures 12 to 14 The twisting mechanism 360 includes a sixth driving member 361 and a connecting member 362. The sixth driving member 361 is disposed on the first mounting plate 340, and the connecting member 362 connects the third mounting plate 330 and the sixth driving member 361. The sixth driving member 361 drives the connecting member 362 to drive the second drive wheel 311 to reciprocate along its axial direction via the third mounting plate 330. When the sixth driving member 361 outputs motion, it can drive the connecting member 362 to move the third mounting plate 330. In this way, the sixth driving member 361 can drive the second drive wheel 311 to move in a third direction to realize the twisting of the guide wire 3.

[0089] The sixth drive component 361 is a motor capable of outputting lifting motion. The connector 362 is a connecting plate; however, in other embodiments of this application, the connector 362 can also be any other component capable of connecting the output end of the sixth drive component 361 to the third mounting plate 330. Optionally, the third mounting plate 330 is bent to reduce the height of the second drive wheel 311, facilitating the connection of the third mounting plate 330 to the sixth drive component 361. Of course, in other embodiments of this application, the connector 362 can also be bent.

[0090] See Figure 1 and Figure 17 As shown, in one embodiment, the push module A further includes a drive component 500, which is connected to the base plate 100 and the push module A to drive the push module A to move relative to the base plate 100 along a first direction. When the drive component 500 drives the push module A to move along the first direction, it can deliver the conduit 2. Moreover, each push module A has a drive component 500, which can drive the corresponding push module A to move along the first direction, so that each push module A is independent of each other, and the stroke of the push module A along the first direction can be maximized.

[0091] See Figure 1 and Figure 17 As shown, in one embodiment, the drive assembly 500 includes a second drive member 510 and a second transmission member 520. The second drive member 510 is disposed on the second carrier plate (mentioned later) of the push module A. The second transmission member 520 extends along a first direction and is transformed between the second drive member 510 and the base plate 100, driving the push module A to move along the first direction. When the second drive member 510 outputs motion, it can drive the third transmission member to move. Since the base plate 100 is fixed, the second transmission member 520 is subjected to a reaction force that drives the push module A to move. Optionally, the second drive member 510 is a motor. The second transmission member 520 is a gear and rack assembly transmission structure, specifically including a first gear and a first rack, which are meshed together. The first rack is disposed on the base plate 100, and the first gear is disposed at the output end of the second drive member 510.

[0092] Optionally, the drive assembly 500 further includes a second guide mechanism and a second carrier plate (fifth carrier plate). The wire pushing and twisting assembly 300 and the Y-valve rotating assembly 400 are disposed on the second carrier plate. The second guide mechanism is disposed along a first direction and guides the connection between the base plate and the second carrier plate. The drive assembly 500 drives the second carrier plate to move the wire pushing and twisting assembly 300 and the Y-valve rotating assembly 400 along the first direction through the cooperation of the second guide mechanism. Optionally, the second guide mechanism includes a second guide member and a second mating member. The wire pushing and twisting assembly 300 and the Y-valve rotating assembly 400 are disposed on the second carrier plate, the second guide member is disposed on the base plate 100, and the second mating member is disposed on the second carrier plate. The second guide member and the second mating member are slidably engaged. Optionally, the first guide member is a slide rail, and the second guide member is a slide groove. The movement of the second carrier plate is guided by the cooperation of the slide groove and the slide rail.

[0093] See Figures 12 to 16 As shown, the wire pushing and twisting assembly 300 also includes a retraction mechanism 370, which is connected to the wire pushing and twisting mechanism and is used to drive the wire pushing and twisting mechanism to move along a second direction. Specifically, the retraction mechanism 370 connects the base plate 100 and the first mounting plate 340, and the retraction mechanism 370 drives the first mounting plate 340 to move along a second direction perpendicular to the first direction, so that the wire pushing and twisting assembly 300 is misaligned with the Y valve rotating assembly 400. Figure 15 for Figure 6 The diagram shown illustrates one embodiment of the guide wire pushing and twisting assembly 300. Figure 16 for Figure 6 The diagram shown is a schematic of another embodiment of the guide wire pushing and twisting assembly 300.

[0094] A retraction mechanism 370 is mounted on the base plate 100, and its output end is connected to the first mounting plate 340. When the retraction mechanism 370 moves, it drives the first mounting plate 340 to move in the second direction. This, in turn, causes the first mounting plate 340 to move the third mounting plate 330, the second pushing mechanism 310, and the second clamping mechanism 320 in the second direction, allowing the catheter 2 clamped in the subsequent catheter pushing assembly 200 to be pushed into the preceding Y valve 4. In other words, when the retraction mechanism 370 drives the fourth plate 340 to move in the second direction, it provides space for the subsequent catheter 2 to be pushed, thus enabling automatic pushing of the catheter 2 and guidewire 3 without manual docking.

[0095] Optionally, the retraction mechanism 370 further includes a first guide mechanism and a first carrier plate. The wire pushing and twisting mechanism is disposed on the first mounting plate 340. The first guide mechanism is arranged along a second direction and connects the first carrier plate and the first mounting plate 340. The retraction mechanism 370 drives the first mounting plate 340 to move the wire pushing and twisting mechanism along the second direction through the cooperation of the first guide mechanism. Optionally, the first guide mechanism includes a first guide member and a first mating member. The first guide member is disposed on the first carrier plate, and the first mating member is disposed on the first mounting plate 340. The first guide member and the first mating member are in sliding engagement. Optionally, the first guide member is a slide rail or a slide groove, and the movement of the first mounting plate 340 is guided by the cooperation of the slide groove and the slide rail.

[0096] See Figure 15 and Figure 16 In one embodiment, the retraction mechanism 370 includes a first driving member and a first transmission member. The first transmission member is arranged along a second direction, and the first driving member and the first transmission member are connected to drive the guide wire pushing and twisting mechanism to move along the second direction. The first driving member is disposed on the first mounting plate 340, and the output end of the first driving member is connected to the first transmission member. The first transmission member is also connected to the base plate 100. When the first driving member outputs movement, it can drive the first transmission member to move the first mounting plate 340, thereby realizing the repositioning and resetting of the guide wire pushing and twisting assembly 300.

[0097] Optionally, the first driving member is disposed on the guide wire pushing and twisting assembly 300, and the first transmission member is drivingly connected to the Y valve rotating assembly 400 and the first driving member; or, the first driving member is disposed on the Y valve rotating assembly 400, and the first transmission member is drivingly connected to the first driving member and the guide wire pushing and twisting assembly 300. That is, the first driving member can be disposed on the guide wire pushing and twisting mechanism or on the Y valve rotating assembly 400. The connection between the guide wire pushing and twisting assembly 300 and the Y valve rotating assembly 400 is established through the cooperation of the first transmission member and the first driving member, so that the guide wire pushing and twisting assembly 300 can move relative to the Y valve rotating assembly 400 in the second direction.

[0098] Optionally, the first transmission component is a gear and rack meshing assembly, such as... Figure 15 As shown. The first transmission component includes a second rack and a second gear. The second rack is disposed on the base plate 100 along a second direction, and the second gear is disposed at the output end of the first driving component and meshes with the second rack. When the first driving component drives the second gear to move along the second rack, since the second rack is fixed to the base plate 100, the second gear is subjected to a reaction force that drives the first mounting plate 340 to move along the second direction. Optionally, the first driving component is a motor.

[0099] Optionally, the first transmission component is a belt drive assembly, such as... Figure 16As shown. The first transmission component includes a synchronous belt, a first pulley, and a second pulley. The first pulley is disposed at the output end of the first drive component, and the second pulley is disposed on the second plate 410 of the Y-valve rotary assembly 400. The synchronous belt is sleeved over the first pulley and the second pulley. The first drive component is disposed in the Y-valve rotary assembly 400. The fourth plate 340 is connected to the synchronous belt. Of course, in other embodiments of this application, the first transmission component may also be a ball screw assembly, or the first drive component and the fourth drive component 313 may be a linear motor.

[0100] See Figures 1 to 4 , Figure 18 and Figure 19 As shown, in one embodiment, the storage module B includes a catheter storage assembly 600 and a guidewire storage assembly 700. The catheter storage assembly 600 is disposed corresponding to the catheter pushing assembly 200 and is used to store the catheter 2. The distal end of the catheter 2 is clamped in the catheter pushing assembly 200, and the proximal end of the catheter 2 is connected to the Y valve 4. The guidewire storage assembly 700 is disposed on the guidewire pushing and twisting assembly 300 and is used to store the guidewire 3. The distal end of the guidewire 3 is clamped in the guidewire pushing and twisting assembly 300. The guidewire storage assembly 700 is disposed on the third mounting plate 330 of the guidewire pushing and twisting assembly 300, and stores the guidewire 3. During pre-assembly, the distal end of the guidewire 3 is pulled out from the guidewire storage assembly 700 and clamped between the second driving wheel 311 and the second driven wheel 312, and pre-assembled to the proximal end of the catheter 2.

[0101] The conduit storage assembly 600 is disposed on the base plate 100. The conduit 2 is stored in the conduit storage assembly 600. During pre-installation, the distal end of the conduit 2 in the conduit storage assembly 600 is clamped in the first pushing mechanism 210, and the proximal end is fixedly connected to the Y valve rotating assembly 400. It can be understood that the conduit storage assembly 600 is used for storage in each level of the storage module B in this application. Of course, the distal end of the first-level conduit can also be directly clamped in the first pushing mechanism 210 of the first-level pushing module A1, and the proximal end of the first-level conduit is threadedly fixed to the Y valve rotating assembly 400. In this case, the first-level conduit is a guide tube. The conduit storage assembly 600 is used for storage in the remaining levels of the storage module B.

[0102] like Figure 18 As shown, the guide wire storage assembly 700 includes a support 710 and a coiled tube 720. The support 710 is disposed on the third plate 330, and the coiled tube 720 is rotatably disposed on the support 710. The support 710 is used to store the guide wire 3 in a coiled manner.

[0103] See Figure 19 and Figure 20The conduit storage assembly 600 includes a base 610, a cover plate, a tensioning lever 630, and guide wheels 640. The cover plate covers the base 610 and forms an installation cavity and an opening. The opening is located on the side of the installation cavity and communicates with the installation cavity. The guide wheels 640 are symmetrically arranged on both sides of the opening. The tensioning lever 630 is movable and symmetrically arranged on the base 610 and tensions the conduit 2. The guide wheels 640 at both ends of the conduit 2 extend out of the opening. Figure 19 for Figure 1 The diagram shown is of the conduit storage assembly 600 without its cover plate. Figure 20 for Figure 19 Side view of the conduit storage assembly 600 shown.

[0104] The conduit 2 has a proximal end and a distal end. The conduit 2 is disposed within the mounting cavity enclosed by the base 610 and the cover plate. The proximal and distal ends of the conduit 2 extend out of openings. The distal end connects to the conduit pushing assembly 200, and the proximal end connects to the Y valve 4. Furthermore, guide wheels 640 are provided on both sides of the opening, with one side of the guide wheel 640 bypassing the other. The guide wheels 640 guide the movement of the conduit 2, preventing it from rubbing against the cover plate and the base 610, ensuring smooth removal of the conduit 2 from the mounting cavity. A tensioning lever 630 is movably mounted on the base 610. The tensioning lever 630 tensions the conduit 2, preventing it from moving directly out of the mounting cavity under pushing force.

[0105] Optionally, the surfaces of the base plate 100 and the cover plate opposite each other are made of flexible material to ensure that the conduit 2 can slide smoothly. Optionally, the surfaces of the base plate 100 and the cover plate opposite each other are made of sponge. Of course, in other embodiments of this application, other flexible materials may also be provided between the base plate 100 and the cover plate.

[0106] See Figure 19 and Figure 20 The base 610 has an inclined surface, the height of which gradually decreases from the middle part of the base 610 to both ends. The base 610 has a sliding groove 650 located in the inclined surface. The tensioning lever 630 can slide in the sliding groove 650. When the tensioning lever 630 moves to the middle area of ​​the base 610, the guide tube 2 disengages from the tensioning lever 630.

[0107] In other words, the base 610 has a cone-shaped structure. Because the base 610 is tilted, the depth of the groove 650 increases accordingly. As the tensioning lever 630 slides from the edge of the base 610 towards the center within the groove 650, the portion of the tensioning lever 630 protruding from the groove 650 gradually decreases and retracts back into the groove 650. Once the tensioning lever 630 retracts back into the groove 650, the guide tube 2 disengages from the tensioning lever 630, and the tensioning lever 630 no longer tensions the guide tube 2, facilitating its delivery to the preset position.

[0108] like Figure 1 and Figure 2 As shown, in the first embodiment of this application, at least two-stage push modules A include a first-stage push module A1, a second-stage push module A2, and a third-stage push module A3, which are spaced apart along a first direction; at least two-stage storage modules B include a first-stage storage module B1, a second-stage storage module B2, and a third-stage storage module B3. The first-stage storage module B1 includes a catheter storage assembly 600 and a guidewire storage assembly 700, or the first-stage storage module B1 includes a guidewire storage assembly 700. The proximal end of the catheter 2 in the first-stage storage module B1 is connected to the Y valve 4, and the distal end is clamped in the catheter push assembly 200.

[0109] In other words, the three storage modules B cooperate with the three push modules A to deliver the third-stage catheter and the third-stage guidewire to the third preset position. This point has been mentioned above and will not be repeated here. Furthermore, each push module A corresponds to one drive component 500. For example... Figure 1 As shown, the first-stage storage module B1 only includes a guidewire storage component 700, which stores the first-stage guidewire. The first-stage catheter is directly clamped in the catheter push component 200 and the Y-valve rotation component 400 of the first-stage storage module B1.

[0110] like Figure 1 and Figure 20 As shown, when the intervention execution device 1 is working, in the first-stage pushing module A1, the first driving wheel 211 and the first passive wheel 212 of the catheter pushing assembly 200 push the first-stage catheter (guide tube), and the second driving wheel 311 and the second passive wheel 312 of the guide wire pushing and twisting assembly 300 push the first-stage guide wire. If necessary, the first-stage guide wire is twisted synchronously. If necessary, the Y-valve rotating assembly 400 can rotate the first-stage catheter.

[0111] After the first-stage catheter and first-stage guidewire are pushed to the first preset position, the guidewire pushing and twisting assembly 300 retracts the first-stage guidewire, and then the guidewire pushing and twisting assembly 300 moves in the second direction to make way. In the second-stage pushing module A2, the catheter pushing assembly 200 clamps the second-stage catheter (intermediate catheter) and moves in the first direction to behind the Y-valve rotating assembly 400 in the first pushing module A. The first driving wheel 211 and the first passive wheel 212 of the catheter pushing assembly 200 start to rotate and push the second-stage catheter until the second-stage catheter stored in the second-stage catheter storage assembly 600 is pulled out. The second-stage catheter is tensioned between the catheter pushing assembly 200 and the Y valve rotating assembly 400 of the second-stage pushing module A2. Then, the guide wire pushing and twisting assembly 300 in the second-stage pushing module A2 delivers the second-stage guide wire (intermediate guide wire) into the second-stage catheter through the Y valve rotating assembly 400 until the distal end of the second-stage guide wire is delivered along the second-stage catheter to the distal end of the second-stage guide wire. The Y valve rotating assembly 400 and the guide wire pushing and twisting assembly 300 follow each other through the driving assembly 500. If necessary, the guide wire pushing and twisting assembly 300 synchronously twists the second-stage guide wire (intermediate guide wire). If necessary, the Y valve rotating assembly 400 can rotate the second-stage catheter (intermediate catheter).

[0112] After the second-stage catheter and second-stage guidewire are pushed to the second preset position, the guidewire pushing and twisting assembly 300 retracts the second-stage guidewire, and then the guidewire pushing and twisting assembly 300 moves along the second direction to make way. In the third-stage pushing module A3, the catheter pushing assembly 200 clamps the third-stage catheter (microcatheter) and moves along the first direction to the rear of the Y-valve rotating assembly 400 in the second pushing module A. The first active wheel 211 and the first passive wheel 212 of the catheter delivery assembly 200 begin to rotate and push the third-stage catheter until all the third-stage catheters stored in the third-stage catheter storage assembly 600 are pulled out. The third-stage catheter is tensioned between the catheter delivery assembly 200 and the Y-valve rotation assembly 400 of the third-stage delivery module A3. Then, the guidewire delivery and twisting assembly 300 in the third-stage delivery module A2 delivers the third-stage guidewire (microguidewire) through the Y-valve rotation assembly 400 into the third-stage catheter until the distal end of the third-stage guidewire is delivered along the third-stage catheter to the distal end of the third-stage guidewire. The Y-valve rotation assembly 400 and the guidewire delivery and twisting assembly 300 follow each other through the drive assembly 500. If necessary, the guidewire delivery and twisting assembly 300 synchronously twists the third-stage guidewire (microguidewire). If necessary, the catheter delivery assembly 200 can rotate the second-stage catheter until the third-stage catheter and the third-stage guidewire reach the third preset position (lesion position). After reaching the lesion location, withdraw the third microguidewire, advance the coiled guidewire 3 to the aneurysm location, and release the coil. After the procedure is completed, withdraw guidewire 3 and catheter 2 in sequence.

[0113] The interventional execution device 1 in this embodiment, through the cooperation of three sets of storage modules B and three-level push modules A, can realize automatic docking and switching of three tubes and three wires, synchronously drive the three tubes and one wire, and perform interventional surgical operations on the lesion site, such as realizing brain nerve interventional surgery.

[0114] Understandably, the diameter of the first-stage catheter is larger than that of the second-stage catheter, and the diameter of the second-stage catheter is larger than that of the third-stage catheter. Correspondingly, the diameter of the first-stage guidewire is larger than that of the second-stage guidewire, and the diameter of the second-stage guidewire is larger than that of the third-stage guidewire. Thus, the first-stage, second-stage, and third-stage guidewires can sequentially deliver catheters 2 of different diameters. Furthermore, in other embodiments, this design trajectory is used regardless of the number of delivery modules A and storage modules B, thereby enabling the delivery of the final-stage catheter 2 and guidewire 3 to the lesion location.

[0115] See Figure 3 In the second embodiment of this application, at least two-stage push modules A include a first-stage push module A1 and a second-stage push module A2 spaced apart along a first direction; at least two-stage storage modules B include a first-stage storage module B1 and a second-stage storage module B2. The first-stage storage module B1 includes a catheter storage assembly 600 and a guidewire storage assembly 700, or the first-stage storage module B1 includes a guidewire storage assembly 700. The proximal end of the catheter 2 in the first-stage storage module B1 is connected to the Y valve 4, and the distal end is clamped in the catheter push assembly 200.

[0116] In other words, the two storage modules B cooperate with the two push modules A to deliver the second-stage catheter and the second-stage guidewire to the second preset position. This point has been mentioned above and will not be repeated here. Figure 3 As shown, the first-stage storage module B1 only includes a guidewire storage component 700, which stores the first-stage guidewire. The first-stage catheter is directly clamped in the catheter push component 200 and the Y-valve rotation component 400 of the first-stage storage module B1.

[0117] It is worth noting that the difference between the intervention execution device 1 in this embodiment and the intervention execution device 1 in the first embodiment is that the third-level structure is removed. Therefore, the principle of the intervention execution device 1 in this embodiment is essentially the same as that in the first embodiment, and will not be repeated here.

[0118] The interventional execution device 1 in this embodiment, through the cooperation of two sets of storage modules B and two-stage push modules A, can realize automatic docking and switching of two tubes and two wires, synchronously drive the two tubes and two wires, and perform interventional surgical operations on the lesion site, such as liver cancer artery embolization surgery and coronary intervention surgery.

[0119] like Figure 4As shown, in the third embodiment of this application, the interventional execution device 1 further includes a two-stage Y-valve rotation assembly 400, a guidewire pushing and twisting assembly 300, a guidewire storage assembly 700, a catheter storage assembly, and a two-stage catheter pushing assembly 200. The two-stage Y-valve rotation assembly 400 and the two-stage catheter pushing assembly 200 are respectively a first Y-valve rotation assembly 401, a second Y-valve rotation assembly 402, a first catheter pushing assembly 201, and a second-stage catheter pushing assembly 202. The first catheter pushing assembly 201, the first Y-valve rotation assembly 401, the second catheter pushing assembly 202, the second Y-valve rotation assembly 402, and the guidewire pushing and twisting assembly 300 are coaxially arranged along a first direction and sequentially. The first catheter pushing assembly 201 clamps and pushes the first-stage catheter with the first Y-valve rotation assembly 401, and the second catheter pushing assembly 202 clamps and pushes the second-stage catheter with the second Y-valve rotation assembly 402. The guidewire storage assembly 700 is disposed on the guidewire pushing and twisting assembly 300, and the catheter storage assembly 600 is disposed on the side of the Y-valve rotating assembly 400. After the first catheter pushing assembly 201 pushes the first-stage catheter to the first preset position, the second catheter pushing assembly 202 pushes the second-stage catheter and guidewire through the first-stage catheter to the second preset position, and the surgical operation can then be performed.

[0120] The interventional execution device 1 of this application also includes a drive component 500, which controls the Y valve rotation component 400 and the like to push the conduit 2 along the first direction.

[0121] In this embodiment, the interventional execution device 1 pushes two-stage catheters 2 and guidewires 3, referred to as the first-stage catheter and the second-stage catheter for ease of description. The two-stage catheter pushing assembly 200 is referred to as the first catheter pushing assembly 201 and the second-stage catheter pushing assembly 202, and the two-stage Y-valve rotating assembly 400 is referred to as the first Y-valve rotating assembly 401 and the second Y-valve rotating assembly 402. The first-stage catheter is a guide tube with a curved distal end. The proximal and distal ends of the first-stage catheter are clamped in the Y-valve 4 of the proximal first Y-valve rotating assembly 401 and the first catheter pushing assembly 201. The second-stage catheter is a microcatheter. The second-stage catheter is located in the catheter storage assembly 600. The distal end of the second-stage catheter is clamped in the second catheter pushing assembly, and the proximal end of the second-stage catheter is clamped in the Y-valve 4 of the second Y-valve rotating assembly 402. The guidewire 3 is a microguidewire. The guidewire 3 is wound in the guidewire storage assembly 700, and the proximal end of the guidewire 3 is clamped in the guidewire pushing and twisting assembly 300.

[0122] During surgery using the interventional execution device 1, the first catheter pushing assembly 201 pushes the first-stage catheter. The first Y-valve rotating assembly 401, the second catheter pushing assembly 202, the second Y-valve rotating assembly 402, and the guidewire pushing and twisting assembly 300 follow the first-stage catheter and move in a first direction. When the first-stage catheter is pushed to the first-stage preset position, the second catheter pushing assembly 202 pushes the second-stage catheter into the first-stage catheter. The guidewire pushing and twisting assembly 300 drives the second-stage catheter and guidewire 3 to move in coordination until the second-stage catheter moves to the second preset position, at which point the surgical operation can be performed. In this embodiment, the interventional execution device 1 can simultaneously drive one catheter and one guidewire to realize peripheral vascular interventional surgery.

[0123] In the interventional execution device 1 of the above embodiment, after the first-stage pushing module A completes pushing, the guidewire 3 is withdrawn. This process is repeated until the final pushing module A delivers the catheter 2 and guidewire 3 into place. Thus, the interventional execution device 1 can automatically push the guidewire 3 and catheter 2 while simultaneously achieving automatic docking between them, eliminating the need for manual intervention, ensuring surgical continuity, reducing safety risks, and guaranteeing operational convenience. The storage module B can store the guidewire 3 and catheter 2, while the pushing module A can handle the pushing and retraction of the guidewire 3 and catheter 2 to meet surgical requirements.

[0124] This interventional execution device 1 can cover a wider range of surgical procedures, allowing for the selection of an appropriate number of storage modules B and pushing modules A based on the diameter of different blood vessels. Furthermore, the friction wheel assembly formed by the active and passive wheels enables the alternating pushing and twisting of the guidewire 3 and catheter 2. Combined with a force feedback structure, it provides force feedback during the advancement of the guidewire 3. The storage module B enables the automatic storage, release, and retrieval of the guidewire 3 and catheter 2, meeting various usage requirements.

[0125] This application also provides a surgical robot, including a control device, a support arm, and an interventional execution device 1 as described in the above embodiment. The control device is controlled and connected to the interventional execution device 1 to control the interventional execution device 1 to perform interventional operations. The support arm fixes the access execution mechanism to the bedside, facilitating the pushing of the guidewire 3 and catheter 2 at a suitable angle. The control device is controlled and connected to the interventional execution device 1, such as through an electrical connection or a transmission connection, to control the individual operation of each structure of the interventional execution device 1, thereby realizing the alternating pushing of the guidewire 3 and catheter 2.

[0126] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0127] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An interventional execution device, characterized in that, include: At least two levels of push modules, wherein the at least two levels of push modules are spaced apart along a first direction; as well as At least two levels of storage modules, each of the at least two levels of storage modules stores a set of guidewires and catheters, each level of storage module is matched with a level of push module, and at least two push modules are used to push the guidewires and catheters in the matched at least two levels of storage modules respectively; Each of the pushing modules includes a catheter pushing assembly, a Y-valve rotating assembly, and a guidewire pushing and twisting assembly arranged sequentially along the first direction. After the previous pushing module delivers the guidewire and catheter in the previous storage module to the previous preset position, the guidewire pushing and twisting assembly withdraws the guidewire from the previous catheter. After the guidewire is withdrawn, the guidewire pushing and twisting assembly of the previous stage moves along a second direction perpendicular to the first direction, and the pushing module of the next stage moves along the first direction, so that the catheter pushing assembly of the next stage docks with the Y-valve rotating assembly of the previous stage, so as to deliver the guidewire and catheter in the storage module of the next stage to the next preset position.

2. The intervention execution device according to claim 1, characterized in that, The guide wire pushing and twisting assembly includes a guide wire pushing and twisting mechanism and a retraction mechanism. The retraction mechanism is connected to the guide wire pushing and twisting mechanism and is used to drive the guide wire pushing and twisting mechanism to move along the second direction.

3. The intervention execution device according to claim 2, characterized in that, The retraction mechanism includes a first driving member and a first transmission member. The first transmission member is arranged along the second direction. The first driving member is connected to the first transmission member to drive the guide wire pushing and twisting mechanism to move along the second direction. The first driving member is disposed on the guide wire pushing and twisting assembly, and the first transmission member is drivingly connected to the Y valve rotating assembly and the first driving member; or, the first driving member is disposed on the Y valve rotating assembly, and the first transmission member is drivingly connected to the first driving member and the guide wire pushing and twisting assembly.

4. The intervention execution device according to claim 2, characterized in that, The guide wire pushing and twisting assembly also includes a force measuring mechanism, which is located below the guide wire pushing and twisting mechanism and is used to detect the resistance of the guide wire being pushed by the guide wire pushing and twisting mechanism.

5. The intervention execution device according to claim 2, characterized in that, The retraction mechanism further includes a first guiding mechanism and a first carrier plate. The wire pushing and twisting assembly further includes a first mounting plate. The first guiding mechanism is arranged along the second direction and includes a first guiding member and a first mating member. The wire pushing and twisting mechanism is disposed on the first mounting plate. The first guiding member is disposed on the first carrier plate. The first mating member is disposed on the first mounting plate. The first guiding member and the first mating member are slidably engaged.

6. The intervention execution device according to claim 1, characterized in that, The intervention execution device further includes a base plate, the storage module is disposed on the base plate, and the push module further includes a drive component, the drive component being tractively connected to the push module and the base plate to drive the push module to move along the first direction; The driving component includes a second driving member and a second transmission member. The second driving member is disposed on the push module, and the second transmission member extends along the first direction. The second transmission member drivesly connects the second driving member and the base plate.

7. The intervention execution device according to claim 6, characterized in that, The drive assembly includes a second guide mechanism and a second carrier plate. The second guide mechanism is arranged along the first direction and includes a second guide member and a second mating member. The guide wire pushing and twisting assembly and the Y valve rotating assembly are arranged on the second carrier plate. The second guide member is arranged on the base plate. The second mating member is arranged on the second carrier plate. The second guide member and the second mating member are slidably engaged.

8. The intervention execution device according to claim 1, characterized in that, The subsequent catheter pushing assembly includes a first pushing mechanism and a guide tube. The first pushing mechanism is used to push the catheter. The guide tube is tapered, with its tip pointing distally and its proximal end pointing proximally towards the first pushing mechanism. The tip of the guide tube can be guided and inserted into the preceding Y-valve rotating assembly. The guide tube is for the subsequent catheter to pass through.

9. The intervention execution device according to claim 1, characterized in that, The storage module includes a conduit storage assembly, which includes a base, a cover plate, a tensioning lever, and guide wheels. The cover plate covers the base and forms an installation cavity and an opening. The opening is located on the side of the installation cavity and communicates with it. The guide wheels are symmetrically arranged on both sides of the opening. The tensioning lever is movable and symmetrically arranged on the base and tensions the conduit. The guide wheels extend out of the opening at both ends of the conduit.

10. The intervention execution device according to claim 9, characterized in that, The base has an inclined surface, the height of which gradually decreases from the middle of the base to both ends. The base has a sliding groove located in the inclined surface. The tensioning lever can slide in the sliding groove. When the tensioning lever moves to the middle area of ​​the base, the guide tube disengages from the tensioning lever.

11. A surgical robot, characterized in that, It includes a control device and an intervention execution device as described in any one of claims 1 to 10, wherein the control device is controlled to the intervention execution device to control the intervention execution device to perform an intervention operation.

Images