Vascular intervention surgical robot with multiple compatibility

Abstract

The invention belongs to the technical field of medical instruments, and particularly relates to a vascular interventional surgical robot with multiple compatibility, the vascular interventional surgical robot comprises a robot main body, a rotatable mounting arm is assembled on the robot main body, a shell and a delivery tube are fixed on the mounting arm, a support is fixed in the shell, and the delivery tube is fixed in the support. A plurality of intervention guide wires are further assembled on the robot body and penetrate through the shell and the interior of the delivery pipe, and a bottom plate is fixed to the bottom of the support. According to the interventional guide wire clamping device, through cooperation of the multiple limiting units and the multiple limiting grooves, the multiple interventional guide wires can be independently switched between the free state and the clamping state, and the driving pushing wheel can be driven to rotate and deliver the interventional guide wires in the clamping state by starting the wire feeding motor; the device can be compatible with intervention guide wires of different diameters and conduct independent delivery, the delivery assembly does not need to be replaced after shutdown, and the compatibility of the device and the continuity of an operation are improved.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically relating to a vascular interventional surgical robot with multiple compatibility features. Background Technology

[0002] Interventional vascular surgery, as a minimally invasive diagnostic and treatment method, has been widely used in the clinical treatment of various diseases such as coronary heart disease, cerebrovascular disease, and peripheral vascular disease due to its advantages of minimal trauma, rapid recovery, and definite efficacy. Interventional vascular surgery robots, as core equipment for improving surgical precision and reducing surgeon fatigue and radiation exposure risks, use robotic arms to drive guidewires and other interventional instruments to deliver, retract, and rotate within blood vessels, achieving precise intervention at the lesion site. Their performance stability and adaptability directly affect surgical efficiency and treatment outcomes, making them a research and application hotspot in the field of interventional medicine.

[0003] However, existing vascular interventional surgical robots have significant functional limitations in guidewire delivery, making it difficult to meet the diverse needs of complex surgical scenarios. Current mainstream devices often employ specialized guidewire delivery mechanisms that can only accommodate guidewires of a single diameter. In clinical vascular interventional surgery, depending on the vessel diameter at the lesion site, the type of lesion, and the progress of the procedure, different diameter guidewires are frequently required for precise navigation, opening occluded vessels, or coordination with other instruments. When guidewire changes are necessary, existing devices cannot directly accommodate guidewires of different diameters, requiring shutdown to replace the specialized delivery component or adjust the device structure. This not only prolongs the procedure time, increases intraoperative risks and postoperative complications for patients, but also reduces the continuity and efficiency of the procedure, limiting its application in complex interventional surgeries.

[0004] In summary, the single-diameter compatibility issue of guidewire delivery mechanisms has become a key bottleneck restricting the improvement of the clinical application efficiency of existing vascular interventional surgical robots. To address this technical challenge, developing a multi-compatible vascular interventional surgical robot capable of simultaneously adapting to guidewires of different diameters without frequent component replacements, and achieving rapid switching and stable delivery of guidewires of different specifications, is of great significance for shortening operation time, reducing surgical risks, and improving the clinical adaptability of equipment. It also aligns with the development trend of minimally invasive, efficient, and multifunctional vascular interventional medical devices. Summary of the Invention

[0005] The purpose of this invention is to provide a vascular interventional surgical robot with multiple compatibility features. Through the cooperation of multiple limiting units and multiple limiting grooves, multiple interventional guidewires can be independently switched between free and clamped states. Starting the wire feeding motor can drive the active push wheel to rotate and deliver the interventional guidewire in the clamped state. This allows the device to be compatible with interventional guidewires of different diameters and deliver them independently without stopping the machine to replace the delivery components, thereby improving the device's compatibility, applicability, and the continuity of surgery.

[0006] The specific technical solution adopted by this invention is as follows: A multi-compatibility vascular interventional surgical robot includes a robot body, a rotatable mounting arm mounted on the robot body, a housing and a delivery tube fixed to the mounting arm, a support fixed inside the housing, and multiple interventional guidewires mounted on the robot body, all of which penetrate the housing and the delivery tube. A base plate is fixed to the bottom of the support. The robot also includes: A pushing component is assembled inside the stent and configured to deliver an interventional guidewire. The pushing component includes multiple active pushing wheels and multiple limiting units. The multiple active pushing wheels are rotatably connected to both ends inside the stent. Multiple limiting grooves are formed inside the active pushing wheels. The multiple limiting units are all assembled inside the stent and located at the upper end of the active pushing wheels. The limiting grooves and interventional guidewires, the limiting units and interventional guidewires, and the limiting grooves and limiting units are all adapted to each other. The mutually adapted limiting grooves and limiting units can clamp the interventional guidewires they are adapted to. A twisting assembly, which is mounted inside the support and located between a plurality of active push wheels, is configured to twist the interventional guidewire; When one of the limiting units and its matching limiting groove are tightly fitted together, the active pushing wheel can deliver the interventional guidewire that is matched with the limiting unit.

[0007] In a preferred embodiment, the pushing assembly further includes a wire feeding motor, a drive gear, and a plurality of driven gears. The wire feeding motor is fixed to the lower end of the base plate, the drive gear is fixed to the output end of the wire feeding motor, and the plurality of driven gears are respectively fixed to one side of a plurality of active pushing wheels, and the drive gear and driven gears are meshed together.

[0008] In a preferred embodiment, both ends of the bracket are fixed with cross arms. The limiting unit includes a clamping plate, a limiting wheel, a limiting motor, and a threaded rod. The clamping plate is slidably connected to the outside of the cross arm. The limiting wheel is rotatably connected to the lower end of the clamping plate. The limiting motor is fixed to the upper end of the clamping plate. The threaded rod is fixed to the output end of the limiting motor, and the threaded rod is threadedly connected to the cross arm.

[0009] In a preferred embodiment, the cross arm has multiple anti-rotation surfaces inside, and both ends of the clamping plate have guide slots. The anti-rotation surfaces and guide slots are adapted to each other, and the clamping plate and the cross arm are slidably connected through the cooperation of the anti-rotation surfaces and guide slots.

[0010] In a preferred embodiment, an annular bushing is fixed to the outer side of the limiting wheel, and the annular bushing is adapted to the limiting groove.

[0011] In a preferred embodiment, the twisting assembly includes an upper push plate, a lower push plate, a twisting motor, a driving pulley, a driven pulley, a transmission pulley, a support shaft, and a toothed belt. The upper and lower push plates are slidably connected inside the bracket and are located at the upper and lower ends of the guide wire, respectively. The twisting motor is fixed to the upper end of the base plate. The driving pulley is fixed to the output end of the twisting motor. The driven pulley is rotatably connected to both sides of the bracket. The transmission pulley is rotatably connected to both sides of the bracket and is located between the upper and lower push plates. The support shaft is rotatably connected to the upper end of the base plate. The toothed belt is assembled on the outside of the driving pulley, driven pulley, transmission pulley, and support shaft. The upper push plate and transmission pulley, the lower push plate and transmission pulley, the driving pulley and toothed belt, the driven pulley and toothed belt, and the transmission pulley and toothed belt are all meshing connections.

[0012] In a preferred embodiment, the upper end of the upper push plate and the lower end of the lower push plate are each provided with a plurality of guide sliders, and the two sides of the bracket are each provided with a plurality of T-shaped guide grooves, wherein the guide sliders and the T-shaped guide grooves are adapted to each other.

[0013] In a preferred embodiment, both ends of the upper push plate and the lower push plate are provided with multiple straight teeth, and a spur gear is fixed on the transmission pulley, and the straight teeth and the spur gear are compatible.

[0014] In a preferred embodiment, in the initial state, both the upper push plate and the lower push plate have guide surfaces on their opposite sides, and the two guide surfaces are mutually compatible.

[0015] In a preferred embodiment, both the lower end of the upper push plate and the upper end of the lower push plate are fixed with elastic anti-slip pads, and the elastic anti-slip pads are made of any one of the following materials: PEEK, TPU, UHMWPE, or silicone rubber.

[0016] The technical effects achieved by this invention are as follows: This invention, through the cooperation of multiple limiting units and multiple limiting grooves, enables multiple interventional guidewires to independently switch between free and clamped states. Activating the wire feeding motor drives the active pushing wheel to rotate and deliver the interventional guidewire in the clamped state. This solution allows the device to be compatible with interventional guidewires of different diameters and deliver them independently. During vascular interventional surgery, medical staff can quickly switch between different specifications of interventional guidewires according to surgical needs without stopping the machine to replace the delivery components, effectively shortening the surgical interruption time caused by interventional guidewire replacement, and improving the device's compatibility, applicability, and surgical continuity. This invention uses a twisting motor to drive a toothed belt, which in turn moves an upper push plate and a lower push plate. The cooperation between the upper and lower push plates allows the interventional guidewire in a free state to be twisted, enabling the device to independently twist multiple interventional guidewires of different diameters and providing good compatibility. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the housing of the present invention; Figure 3 This is a schematic diagram of the overall internal structure of the support frame of the present invention; Figure 4 This is a cross-sectional view of the internal structure of the support frame of the present invention; Figure 5 This is an exploded view of the internal structure of the support frame of the present invention; Figure 6 This is a schematic diagram of the push component of the present invention; Figure 7 This is a schematic diagram of the structure of the limiting unit of the present invention; Figure 8 This is an exploded view of the limiting unit structure of the present invention; Figure 9 This is a schematic diagram of the twisting assembly of the present invention; Figure 10 This is a cross-sectional view of the twisting assembly of the present invention; Figure 11 This is an exploded view of the twisting assembly of the present invention; Figure 12 This is a schematic diagram of the transmission pulley and spur gear of the present invention; Figure 13 This is the present invention. Figure 3 A magnified view of a portion of point A in the middle; Figure 14 This is a schematic diagram of the initial state of the twisting component of the present invention.

[0018] The attached diagram lists the components represented by each number as follows: 100. Robot body; 101. Mounting arm; 102. Housing; 103. Delivery tube; 104. Support; 105. Intervention guidewire; 106. Base plate; 107. Horizontal arm; 108. Anti-rotation surface; 200. Push component; 201. Active push wheel; 202. Limiting groove; 203. Wire feeding motor; 204. Drive gear; 205. Driven gear; 210. Limiting unit; 211. Pallet; 212. Limit wheel; 213. Limit motor; 214. Threaded rod; 215. Guide groove; 216. Annular bushing; 300. Twisting assembly; 301. Upper push plate; 302. Lower push plate; 303. Twisting motor; 304. Drive pulley; 305. Driven pulley; 306. Transmission pulley; 307. Support shaft; 308. Toothed belt; 309. Guide slider; 310. Straight tooth; 311. Spur gear; 312. Guide surface. Detailed Implementation

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0020] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0021] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in a preferred embodiment" appearing in different places throughout this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that mutually excludes other embodiments.

[0022] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0023] Please see the appendix Figures 1 to 6As shown, this is the first embodiment of the present invention. This embodiment provides a vascular interventional surgical robot with multiple compatibility features, including a robot body 100. A rotatable mounting arm 101 is mounted on the robot body 100. A housing 102 and a delivery tube 103 are fixed on the mounting arm 101. A support 104 is fixed inside the housing 102. Multiple interventional guidewires 105 are also mounted on the robot body 100. The multiple interventional guidewires 105 all penetrate the housing 102, the delivery tube 103, and the support 104. A base plate 106 is fixed to the bottom of the support 104. Upright plates are provided at both ends of the base plate 106. Multiple guide tubes are fixed to both ends of the support 104, and the multiple guide tubes extend to the outside of the housing 102. The multiple guide tubes and the multiple interventional guidewires 105 are adapted to each other. The robot body also includes: The push assembly 200 is assembled inside the support 104 and is configured to deliver the interventional guidewire 105. The push assembly 200 includes multiple active push wheels 201 and multiple limiting units 210. The multiple active push wheels 201 are rotatably connected to both ends inside the support 104. Multiple limiting grooves 202 are opened inside the active push wheels 201. The multiple limiting units 210 are all assembled inside the support 104 and located at the upper end of the active push wheels 201. The limiting grooves 202 and the interventional guidewire 105, the limiting units 210 and the interventional guidewire 105, the limiting grooves 202 and the limiting units 210, and the limiting grooves 202 and the guide tube are all adapted to each other. The mutually adapted limiting grooves 202 and limiting units 210 can clamp the interventional guidewire 105 that are adapted to them. The twisting assembly 300 is mounted inside the support 104 and located between a plurality of active push wheels 201. The twisting assembly 300 is configured to twist the interventional guidewire 105. When a limiting unit 210 and its matching limiting groove 202 are tightly fitted together, the active push wheel 201 can deliver the intervention guide wire 105 that is matched with the limiting unit 210. In the initial state, the limiting unit 210 and the limiting groove 202 are far apart from each other.

[0024] It should be noted that an imaging device (e.g., a C-arm X-ray machine) is also used in conjunction with the device. The imaging device can acquire images of blood vessels in the patient's body and the movement path of the interventional guidewire 105. The imaging device is equipped with a control module. The control module and the robot body 100, the push component 200, and the twisting component 300 are all electrically connected by wires. The control module can independently control the operation of the robot body 100, the push component 200, and the twisting component 300. Furthermore, the robot body 100 and the control module are existing mature applications. Their specific structures and working principles can be referred to existing technologies, and will not be elaborated further here.

[0025] Furthermore, in this embodiment, the number of interventional guidewires 105 is at least one, and their specific number and diameter can be adjusted according to surgical needs. In this embodiment, the number of interventional guidewires 105 is set to three. To better describe the working process of this device, the three interventional guidewires 105 are named interventional guidewire 105A, interventional guidewire 105B, and interventional guidewire 105C respectively. In this embodiment, only the movement process of interventional guidewire 105A is described. The operation methods of interventional guidewires 105B and interventional guidewire 105C are the same as those of interventional guidewire 105A. Since the interventional guidewires 105 and the limiting groove 202 and the interventional guidewire 105 and the limiting unit 210 are all adapted one by one, unless otherwise specified, the limiting groove 202, the limiting unit 210 and other related components are all assumed to be adapted to the interventional guidewire 105A.

[0026] Specifically, in this embodiment, twisting refers to rotation. The rotation method can be unidirectional rotation or reciprocating rotation. The specific rotation form can be adjusted according to actual usage requirements.

[0027] In this embodiment, during vascular interventional surgery, multiple interventional guidewires 105 of appropriate diameter are selected according to the surgical requirements and assembled onto the robot body 100. One end of each interventional guidewire 105 is sequentially passed through the housing 102 and delivery tube 103 via a guide tube and delivered into the patient's body. The multiple interventional guidewires 105 are respectively located between corresponding limiting units 210 and limiting grooves 202. When it is necessary to deliver an interventional guidewire 105A into the blood vessel, the corresponding limiting unit 210 is activated by the control module (other limiting units 210 remain in their initial state), causing the limiting unit 210 to compress the interventional guidewire 105A until the limiting unit 210... The guide wire 105A and the limiting groove 202 are tightly fitted together. The limiting groove 202 and the limiting unit 210 clamp the guide wire 105A. The pushing assembly 200 is activated, causing the active pushing wheel 201 to rotate, delivering the guide wire 105A. At this time, the other limiting units 210 are in their initial state, and the guide wires 105B and 105C are in a free state. The rotation of the active pushing wheel 201 will not cause the guide wires 105B and 105C to move (i.e., the guide wires 105B and 105C remain stationary). When needed... When the interventional guidewire 105A is twisted to adjust its forward direction, the limiting unit 210 is rotated in the reverse direction, causing the limiting unit 210 and the limiting groove 202 to disengage, releasing the clamping of the interventional guidewire 105A. The limiting unit 210, which is adapted to the interventional guidewires 105B and 105C, is then rotated to clamp the interventional guidewires 105B and 105C. The twisting assembly 300 is then rotated to twist the interventional guidewire 105A. At this time, the interventional guidewire 105A is in a free state, and the twisting assembly 300 can drive the interventional guidewire 105A to rotate unidirectionally or reciprocally, thereby adjusting the interventional guidewire 105A. After the direction of the interventional guidewire 105A is adjusted, the limiting unit 210 is activated to clamp the interventional guidewire 105A again, ensuring that the direction of the interventional guidewire 105A does not change. At the same time, the limiting unit 210, which is compatible with the interventional guidewires 105B and 105C, is activated in reverse to release the clamping of the interventional guidewires 105B and 105C. The pushing component 200 is then activated again to deliver the interventional guidewire 105A after the direction has been adjusted. When it is necessary to deliver the interventional guidewires 105B or 105C, the same operation can be performed without replacing the relevant components, which can effectively improve the efficiency of the operation.

[0028] It should be noted that in the current vascular interventional surgery process, only one interventional guidewire 105 is delivered. With the development of medical technology, when it is necessary to deliver multiple interventional guidewires 105 at the same time, multiple limiting units 210 and their corresponding limiting grooves 202 can be tightly fitted according to the delivery requirements, so that multiple interventional guidewires 105 can be delivered at the same time.

[0029] Secondly, please refer to it again. Figures 4 to 6 The pushing component 200 also includes a wire feeding motor 203, a drive gear 204 and a plurality of driven gears 205. The wire feeding motor 203 is fixed to the lower end of the base plate 106, the drive gear 204 is fixed to the output end of the wire feeding motor 203, and the plurality of driven gears 205 are respectively fixed to one side of the plurality of active pushing wheels 201, and the drive gear 204 and the driven gears 205 are meshed together.

[0030] In this embodiment, when delivering the interventional guidewire 105A, the limiting unit 210 is activated, causing the limiting unit 210 to compress the interventional guidewire 105A until the limiting unit 210 and the interventional guidewire 105A, as well as the limiting groove 202 and the interventional guidewire 105A, are tightly fitted together. The interventional guidewire 105A is clamped by the cooperation of the limiting groove 202 and the limiting unit 210. The wire feeding motor 203 is then activated, driving the drive gear 204 to rotate. Since the drive gear 204 and the driven gear 205 are meshed and connected, and the driven gear 205 and the active push wheel 201 are fixedly connected, the drive gear 204 drives the driven gear 205 and the active push wheel 201 to rotate. 1. With synchronous rotation, after the active push wheel 201 rotates, the interventional guide wire 105A can be delivered through the cooperation of the limiting groove 202 and the limiting unit 210. At this time, both interventional guide wires 105B and 105C are in a free state. After the active push wheel 201 rotates, interventional guide wires 105B and 105C can remain stationary. When it is necessary to deliver interventional guide wires 105B or 105C, the same operation can be performed without replacing the delivery component or adjusting the device structure. This reduces the operation time, intraoperative risk and postoperative complication probability, improves the continuity and efficiency of the operation, makes the device suitable for complex interventional surgery, and expands the application range of the device.

[0031] Secondly, please refer to the following as well. Figure 3 , Figure 7 and Figure 8Both ends of the bracket 104 are fixed with cross arms 107. The limiting unit 210 includes a clamping plate 211, a limiting wheel 212, a limiting motor 213, and a threaded rod 214. The clamping plate 211 is slidably connected to the outside of the cross arm 107. The limiting wheel 212 is rotatably connected to the lower end of the clamping plate 211 through a shaft. The limiting motor 213 is fixed to the upper end of the clamping plate 211. The threaded rod 214 is fixed to the output end of the limiting motor 213 and is threadedly connected to the cross arm 107. An annular bushing 216 is fixed to the outside of the limiting wheel 212 and is adapted to the limiting groove 202. Multiple anti-slip patterns are evenly opened on the outside of the annular bushing 216.

[0032] Here, the cross arm 107 has multiple threaded holes inside, and each of the multiple threaded holes is matched with the threaded rod 214 in the multiple limiting units 210.

[0033] It should be noted that the cross arm 107 has multiple anti-rotation surfaces 108 inside, and both ends of the clamping plate 211 have guide grooves 215. The anti-rotation surfaces 108 and guide grooves 215 are compatible, and the clamping plate 211 and the cross arm 107 are slidably connected through the cooperation of the anti-rotation surfaces 108 and guide grooves 215.

[0034] In this embodiment, during the vascular interventional procedure on the patient, when the interventional guidewire 105A needs to be delivered, the limiting motor 213 is activated, causing the output end of the limiting motor 213 to rotate. Through the fixed connection between the limiting motor 213 and the threaded rod 214, the limiting motor 213 drives the threaded rod 214 to rotate. Since the cross arm 107 and the support 104 are fixedly connected, and the cross arm 107 and the threaded rod 214 are threadedly connected, during the rotation of the threaded rod 214, the cross arm 107 can drive the threaded rod 214 and the limiting motor 213 to move synchronously in the vertical direction. Since the limiting motor 213 and the clamping plate 211 are fixedly connected, and the clamping plate 211 and the limiting wheel 212 are rotatably connected, the limiting motor 213 drives the clamping plate 211 and the limiting wheel 212 to move synchronously in the vertical direction. When the limiting wheel 212 moves toward the active push wheel 201, the annular bushing 216 squeezes the interventional guide wire 105A, so that the interventional guide wire 105A and the limiting groove 202, as well as the interventional guide wire 105A and the annular bushing 216, are tightly fitted. The interventional guide wire 105A is clamped by the cooperation of the limiting groove 202 and the annular bushing 216. The wire feeding motor 203 is started and drives the active push wheel 201 to rotate. The interventional guide wire 105A can be delivered by the cooperation of the active push wheel 201 and the limiting wheel 212 (at this time, the limiting wheel 212 and the active push wheel 201 that are adapted to the interventional guide wires 105B and 105C are in a state of being far apart from each other, that is, the interventional guide wires 105B and 105C are in a free state).

[0035] It should be noted that the material of the annular bushing 216 can be any of the following: PEEK (medical), TPU (medical), UHMWPE, silicone rubber (medical), or other medical elastic materials. In this embodiment, the material of the annular bushing 216 is preferably medical TPU. The selection of medical elastic materials allows the device to be applicable to interventional guidewires 105 of different diameters. Through the elastic deformation of the annular bushing 216, it can form a stable and effective clamping of interventional guidewires 105 of different diameters, enabling the device to deliver interventional guidewires 105 of different diameters and improving the applicability of the device.

[0036] Please refer to it again. Figures 9 to 11 The twisting assembly 300 includes an upper push plate 301, a lower push plate 302, a twisting motor 303, a driving pulley 304, a driven pulley 305, a transmission pulley 306, a support shaft 307, and a toothed belt 308. The upper push plate 301 and the lower push plate 302 are slidably connected inside the bracket 104, with the upper push plate 301 located at the upper end of the intervention guidewire 105 and the lower push plate 302 located at the lower end of the intervention guidewire 105. The twisting motor 303 is fixed to the upper end of the base plate 106, the driving pulley 304 is fixed to the output end of the twisting motor 303, and the driven pulley 305 is rotatably connected to the two ends of the bracket 104. On the side, the transmission pulley 306 is rotatably connected to both sides of the bracket 104 and located between the upper push plate 301 and the lower push plate 302. The support shaft 307 is rotatably connected to the upper end of the base plate 106. The toothed belt 308 is assembled on the outside of the driving pulley 304, the driven pulley 305, the transmission pulley 306 and the support shaft 307. The upper push plate 301 and the transmission pulley 306, the lower push plate 302 and the transmission pulley 306, the driving pulley 304 and the toothed belt 308, the driven pulley 305 and the toothed belt 308, and the transmission pulley 306 and the toothed belt 308 are all meshing connections.

[0037] Furthermore, multiple guide sliders 309 are provided at the upper end of the upper push plate 301 and the lower end of the lower push plate 302. Multiple T-shaped guide grooves are provided on both sides of the bracket 104. The guide sliders 309 and the T-shaped guide grooves are compatible. Multiple straight teeth 310 are provided at both ends of the upper push plate 301 and the lower push plate 302. A spur gear 311 is fixed on the transmission pulley 306, and the straight teeth 310 and the spur gear 311 are compatible.

[0038] It should be noted that, initially, the upper push plate 301 and the lower push plate 302 are located on both sides of the bracket 104. During operation, both the upper push plate 301 and the lower push plate 302 move into the interior of the bracket 104, with the upper push plate 301 positioned above the lower push plate 302 (please refer to the respective specifications). Figure 10 and Figure 14 (As shown).

[0039] In this embodiment, during the vascular interventional procedure, when the interventional guidewire 105A needs to be twisted to adjust its forward direction, the limiting unit 210 is activated. This causes the limiting unit 210 to move away from the active push wheel 201, releasing the clamping of the interventional guidewire 105A by the active push wheel 201 and the limiting unit 210. At this time, the interventional guidewire 105A is in a free state. Simultaneously, limiting units adapted to interventional guidewires 105B and 105C are activated. Unit 210 clamps the interventional guidewires 105B and 105C, ensuring they remain stationary. It then activates the twisting motor 303, causing its output to rotate. Through the fixed connection between the twisting motor 303 and the drive pulley 304, the motor drives the pulley 304 to rotate. The drive pulley 304, in turn, engages with the toothed belt 308, causing it to drive the toothed belt 308. 08 rotates around the outer side of the driving pulley 304, driven pulley 305, transmission pulley 306, and support shaft 307, causing the toothed belt 308 to drive the transmission pulley 306 to rotate. Since the upper push plate 301 and the transmission pulley 306, as well as the lower push plate 302 and the transmission pulley 306, are all meshed, the transmission pulley 306 drives the upper push plate 301 and the lower push plate 302 to move closer to each other. When the upper push plate 301 and the guide wire 105A, and the lower push plate 302 and... When the interventional guidewire 105A makes contact, the upper push plate 301 and the lower push plate 302 work together to twist the interventional guidewire 105A to adjust its forward direction. At this time, since both the interventional guidewires 105B and 105C are in a clamped state, the upper push plate 301 and the lower push plate 302 will not drive the interventional guidewires 105B and 105C to rotate as they approach each other. The interventional guidewires 105B and 105C can remain relatively stationary during this process.

[0040] It should be noted that during the process of activating the limiting unit 210 to release the clamping of the interventional guidewire 105A, the annular bushing 216 moves upward but does not completely disengage from the limiting groove 202. The upward movement of the annular bushing 216 can release the clamping of the interventional guidewire 105A, but not completely disengage from the limiting groove 202, which can prevent the interventional guidewire 105A from slipping out of the limiting groove 202 during twisting. The moving distance of the annular bushing 216 can be adjusted by controlling the running time of the limiting motor 213. The specific running time of the limiting motor 213 can be obtained through experiments, and will not be further elaborated here.

[0041] Please refer to it again. Figure 11 and Figure 14In the initial state, guide surfaces 312 are provided on the sides of the upper push plate 301 and the lower push plate 302 that are far apart from each other, and the two guide surfaces 312 are adapted to each other.

[0042] In this embodiment, when the interventional guide wire 105A is twisted, the guide surface 312 ensures that the interventional guide wire 105A can be located between the upper push plate 301 and the lower push plate 302 as the upper push plate 301 and the lower push plate 302 move toward each other, so that the device can stably twist the interventional guide wire 105A.

[0043] In a preferred embodiment, an elastic anti-slip pad is fixed to the lower end of the upper push plate 301 and the upper end of the lower push plate 302. The elastic anti-slip pad is made of any one of the following materials: PEEK (medical), TPU (medical), UHMWPE, medical silicone rubber or other medical elastic materials. In this embodiment, the material of the elastic anti-slip pad is preferably medical silicone rubber.

[0044] It should be noted that in this embodiment, the upper push plate 301 and the lower push plate 302 are parallel to each other, and the distance between the two elastic anti-slip pads in their free state is less than the minimum diameter of the interventional guide wire 105.

[0045] In this embodiment, since the upper push plate 301 and the lower push plate 302 are parallel to each other and the distance between the upper push plate 301 and the lower push plate 302 is fixed, the setting of the elastic anti-slip pad enables the upper push plate 301 and the lower push plate 302 to be applicable to interventional guide wires 105 of different diameters, thereby enabling the device to be compatible with interventional guide wires 105 of different diameters and improving the applicability of the device.

[0046] The working principle of this invention is as follows: During vascular interventional surgery, multiple interventional guidewires 105 of appropriate diameter are selected and assembled. One end of each guidewire 105 is sequentially passed through the housing 102 and delivery tube 103 via a guide tube and delivered into the patient's body. The multiple guidewires 105 are positioned between corresponding limiting units 210 and limiting grooves 202. When it is necessary to deliver an interventional guidewire 105A into the blood vessel, the control module activates the corresponding limiting unit 210 to compress the guidewire 105A. The limiting groove 202 and the limiting unit 210 clamp the guidewire 105A. The wire feeding motor 203 is activated, driving the active pushing wheel 201 to rotate, which delivers the guidewire 105A. When it is necessary to twist the guidewire 105A to adjust its forward direction, the limiting unit 210 is reversed, releasing the annular bushing 2. The limiting groove 202 clamps the interventional guide wire 105A. The limiting unit 210, which is adapted to the interventional guide wires 105B and 105C, is operated to clamp the interventional guide wires 105B and 105C. The twisting motor 303 is started, and the interventional guide wire 105A is twisted by the cooperation of the upper push plate 301 and the lower push plate 302, thereby adjusting the forward direction of the interventional guide wire 105A. After the direction of the interventional guide wire 105A is adjusted, the limiting unit 210 is operated to clamp the interventional guide wire 105A again to ensure that the forward direction of the interventional guide wire 105A does not change. At the same time, the limiting unit 210, which is adapted to the interventional guide wires 105B and 105C, is operated in the opposite direction to release the clamping of the interventional guide wires 105B and 105C. The wire feeding motor 203 is started again to deliver the interventional guide wire 105A after the direction is adjusted.

[0047] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained in this invention are implemented according to conventional methods in the art unless otherwise specified or limited.

Claims

1. A vascular interventional procedure robot with multi-compatibility, characterized in that: The system includes a robot body (100), on which a rotatable mounting arm (101) is mounted. A housing (102) and a delivery tube (103) are fixed to the mounting arm (101). A bracket (104) is fixed inside the housing (102). The robot body (100) is also equipped with multiple interventional guidewires (105). A base plate (106) is fixed to the bottom of the bracket (104). The system also includes: A pushing component (200) is assembled inside a stent (104). The pushing component (200) is configured to deliver an interventional guidewire (105). The pushing component (200) includes multiple active pushing wheels (201) and multiple limiting units (210). The multiple active pushing wheels (201) are rotatably connected to both ends inside the stent (104). Multiple limiting grooves (202) are provided inside the active pushing wheels (201). The multiple limiting units (210) are all assembled inside the stent (104). The limiting grooves (202) and the interventional guidewire (105), the limiting units (210) and the interventional guidewire (105), and the limiting grooves (202) and the limiting units (210) are all adapted to each other. The mutually adapted limiting grooves (202) and limiting units (210) can clamp the interventional guidewire (105) that are adapted to them. A twisting assembly (300) is mounted inside a bracket (104) and located between a plurality of active push wheels (201); When one of the limiting units (210) and the corresponding limiting groove (202) are tightly fitted together, the active push wheel (201) can deliver the interventional guide wire (105) that is adapted to the limiting unit (210).

2. The multi-compatible vascular interventional operating robot of claim 1, wherein: The pushing assembly (200) also includes a wire feeding motor (203), a drive gear (204), and a plurality of driven gears (205). The wire feeding motor (203) is fixed to the lower end of the base plate (106), the drive gear (204) is fixed to the output end of the wire feeding motor (203), and the plurality of driven gears (205) are respectively fixed to one side of a plurality of active pushing wheels (201), and the drive gear (204) and the driven gears (205) are meshed together.

3. The vascular interventional surgical robot with multiple compatibility according to claim 1, characterized in that: Both ends of the bracket (104) are fixed with cross arms (107). The limiting unit (210) includes a clamping plate (211), a limiting wheel (212), a limiting motor (213), and a threaded rod (214). The clamping plate (211) is slidably connected to the outside of the cross arm (107). The limiting wheel (212) is rotatably connected to the lower end of the clamping plate (211). The limiting motor (213) is fixed to the upper end of the clamping plate (211). The threaded rod (214) is fixed to the output end of the limiting motor (213), and the threaded rod (214) and the cross arm (107) are threadedly connected.

4. The vascular interventional surgical robot with multiple compatibility according to claim 3, characterized in that: The cross arm (107) has multiple anti-rotation surfaces (108) inside, and the two ends of the clamping plate (211) are provided with guide grooves (215). The anti-rotation surfaces (108) and guide grooves (215) are adapted to each other. The clamping plate (211) and the cross arm (107) are slidably connected by the cooperation of the anti-rotation surfaces (108) and guide grooves (215).

5. A vascular interventional surgical robot with multiple compatibility according to claim 3, characterized in that: An annular bushing (216) is fixed to the outer side of the limiting wheel (212), and the annular bushing (216) and the limiting groove (202) are compatible.

6. The vascular interventional surgical robot with multiple compatibility according to claim 1, characterized in that: The twisting assembly (300) includes an upper push plate (301), a lower push plate (302), a twisting motor (303), a driving pulley (304), a driven pulley (305), a transmission pulley (306), a support shaft (307), and a toothed belt (308). The upper push plate (301) and the lower push plate (302) are slidably connected inside the bracket (104) and are located at the upper and lower ends of the intervention guide wire (105), respectively. The twisting motor (303) is fixed to the upper end of the base plate (106). The driving pulley (304) is fixed to the output end of the twisting motor (303). The driven pulley (305) is rotatably connected to both sides of the bracket (104). The transmission pulley (306) is rotatably connected to both sides of the bracket (104). 6) Rotatably connected to both sides of the bracket (104) and located between the upper push plate (301) and the lower push plate (302), the support shaft (307) is rotatably connected to the upper end of the base plate (106), and the toothed belt (308) is assembled on the outside of the driving pulley (304), the driven pulley (305), the transmission pulley (306) and the support shaft (307), and the upper push plate (301) and the transmission pulley (306), the lower push plate (302) and the transmission pulley (306), the driving pulley (304) and the toothed belt (308), the driven pulley (305) and the toothed belt (308), and the transmission pulley (306) and the toothed belt (308) are all meshing connections.

7. A vascular interventional surgical robot with multiple compatibility according to claim 6, characterized in that: The upper end of the upper push plate (301) and the lower end of the lower push plate (302) are each provided with a plurality of guide sliders (309), and the bracket (104) is provided with a plurality of T-shaped guide grooves on both sides, and the guide sliders (309) and the T-shaped guide grooves are adapted to each other.

8. A multi-compatibility vascular interventional surgical robot according to claim 6, characterized in that: Both ends of the upper push plate (301) and the lower push plate (302) are provided with multiple straight teeth (310), and a spur gear (311) is fixed on the transmission pulley (306), and the straight teeth (310) and the spur gear (311) are compatible.

9. A vascular interventional surgical robot with multiple compatibility according to claim 6, characterized in that: In the initial state, the upper push plate (301) and the lower push plate (302) are provided with guide surfaces (312) on the side that are far apart from each other, and the two guide surfaces (312) are adapted to each other.

10. A multi-compatibility vascular interventional surgical robot according to claim 6, characterized in that: The lower end of the upper push plate (301) and the upper end of the lower push plate (302) are both fixed with elastic anti-slip pads. The elastic anti-slip pads are made of any one of the following materials: PEEK, TPU, UHMWPE, or silicone rubber.

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