Vascular intervention guidewire catheter system

Abstract

This application provides a vascular interventional guidewire and catheter system, comprising: a guidewire module, a catheter module, a motion module, and a stent module. The guidewire module includes a retractable guidewire clamping unit and a guidewire, with the guidewire clamping unit holding the guidewire. The catheter module is disposed at one end of the guidewire module and is used to support the guidewire passing through it. The motion module includes a guidewire rotation motion unit, a guidewire linear motion unit, and a guidewire vibration unit. The motion module is disposed at the other end of the guidewire module and connected to it. The guidewire rotation motion unit controls the guidewire to rotate, the guidewire linear motion unit controls the guidewire to move linearly, and the guidewire vibration unit controls the guidewire to perform reciprocating linear impact motion. The stent module supports and controls the movement of the guidewire module, catheter module, and motion module to the target surgical position. This application enables diverse movement modes of the guidewire, improving the clamping stability of the guidewire and its ability to pass through complex diseased blood vessels.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to a vascular interventional guidewire and catheter system. Background Technology

[0002] In minimally invasive interventional procedures (such as cardiovascular and neurointerventional procedures), guidewires are crucial tools for inserting other therapeutic devices (such as balloons and stents) into the lesion site of blood vessels. Traditional guidewire manipulation primarily relies on the surgeon manually pushing, rotating, and retracting the guidewire under the guidance of digital subtraction angiography (DSA) equipment. However, with the increasing complexity and duration of interventional procedures, traditional methods and existing auxiliary devices have gradually revealed the following shortcomings: Physician radiation exposure and procedural fatigue: Traditional manual procedures require physicians to be in close contact with radiation sources, posing long-term radiation health risks. Simultaneously, prolonged periods of meticulous manual manipulation can easily lead to hand fatigue and tremors, affecting the precision and safety of the surgery. When dealing with calcified lesions or chronic total occlusion (CTO) lesions, the precision, force, and frequency of the physician's hand control over the guidewire directly impact the success rate. However, due to limitations in hand movement, sub-millimeter precision control of the guidewire is not possible, thus reducing the success rate and increasing the likelihood of complications.

[0003] Existing surgical robots or auxiliary drive devices typically only have linear guidewire pushing and rotation functions, with a single motion mode and limited passability. When dealing with calcified lesions or chronic total occlusion (CTO) lesions, the lack of impact capability makes it difficult for the guidewire tip to pass through harder lesion areas, thus limiting the success rate of the surgery.

[0004] Existing wire clamping mechanisms mostly employ simple friction clamping, resulting in insufficient clamping force that causes wire slippage and inadequate wire clamping stability. Furthermore, existing clamps lack an adaptive telescopic structure, causing the tail of the wire clamp to sway during long-distance wire transport, thus affecting stability.

[0005] Existing guidewire delivery tubes or catheters are mostly made of a single material, making it difficult to balance the flexibility of the internal end (to avoid damaging blood vessels) and the support of the external end (to ensure thrust transmission).

[0006] When adjusting the position of existing surgical robotic arms or stents, it is often necessary to switch between "rapid coarse adjustment" and "precise fine adjustment". There is a lack of surgical robotic arms or stents that can be quickly dragged to the approximate surgical position through a clutch structure and can achieve sub-millimeter precision locking through a precision structure. This results in long preoperative preparation time and poor flexibility of intraoperative adjustment.

[0007] To address the problems of the existing technology, the deficiencies of the existing technology should be resolved, and a novel vascular interventional guidewire and catheter system should be provided to improve the ability of the guidewire to pass through complex lesions such as CTO with severe calcification. Summary of the Invention

[0008] In view of one of the deficiencies in the prior art, the purpose of this application is to provide a vascular interventional guidewire catheter system.

[0009] This application provides a vascular interventional guidewire and catheter system, including: a guidewire module, a catheter module, a motion module, and a stent module; The guidewire module includes a retractable guidewire clamping unit and a guidewire, wherein the guidewire clamping unit clamps the guidewire. The catheter module is disposed at one end of the guidewire module to support the guidewire, and the guidewire passes through the catheter module; The motion module includes a guidewire rotation motion unit, a guidewire linear motion unit, and a guidewire vibration unit. The motion module is disposed at the other end of the guidewire module and connected to the guidewire module. The guidewire rotation motion unit is used to control the guidewire to rotate, the guidewire linear motion unit is used to control the guidewire to move linearly, and the guidewire vibration unit is used to control the guidewire to perform reciprocating linear impact motion. The stent module is used to support and control the movement of the guidewire module, the catheter module, and the motion module to the target surgical position.

[0010] Optionally, the guide wire clamping unit includes a first magnetic induction component, a second magnetic induction component, a guide wire clamp, a telescopic rod, and a tail knob. The first magnetic induction component is disposed at one end of the guide wire clamp, the second magnetic induction component is disposed at the other end of the guide wire clamp, and the other end of the guide wire clamp is connected to one end of the telescopic rod. The other end of the telescopic rod is magnetically coupled to the tail knob. The first magnetic induction component includes a first magnetic induction coil and a transmitting module, wherein the first magnetic induction coil is connected to the transmitting module; the second magnetic induction component includes a second magnetic induction coil and a receiving module, wherein the second magnetic induction coil is connected to the receiving module. The guide wire holder includes a conical head, a multi-lobed metal claw, and a connecting rod. The conical head is threaded to one end of the connecting rod. The multi-lobed metal claw is disposed between the conical head and the connecting rod. The other end of the connecting rod is connected to one end of the telescopic rod. The tail knob is used to control the connecting rod to squeeze the multi-lobed metal claw to lock the guide wire by rotating clockwise, and to control the connecting rod to squeeze the multi-lobed metal claw to unlock the guide wire by rotating counterclockwise. The telescopic rod includes multiple telescopic tubes connected end to end. The first telescopic tube is connected to the other end of the connecting rod, and the last telescopic tube is fixedly connected to the tail knob. The tail knob is connected to the side wall of the housing of the vascular interventional guidewire catheter system through a magnetic coupling structure.

[0011] Optionally, the guide wire rotation motion unit adopts a box structure, including a gear set structure. The gear set structure includes a central gear, a drive gear, and a rotational motion drive shaft. The central gear is meshed with the drive gear. A first through hole is provided at the center of the central gear for the guide wire to pass through. A second through hole is provided at the center of the drive gear. The rotational motion drive shaft passes through the second through hole to drive the drive gear to rotate, and in turn, drives the central gear to rotate.

[0012] Optionally, the vascular interventional guidewire catheter system further includes a module support and fixation component. The module support and fixation component is disposed on one side of the central gear and connected to a non-central position of the central gear. The module support and fixation component is used to fix the guidewire vibration unit. The guidewire vibration unit is connected to the guidewire clamping unit. When the guidewire rotation motion unit is driven by the driving device, the guidewire clamping unit is coaxially connected to the central gear. When the central gear is driven to rotate by the driving gear, the guidewire vibration unit and the guidewire clamping unit on the module support and fixation component connected to the central gear also rotate accordingly, thereby driving the guidewire to rotate.

[0013] Optionally, the guide wire linear motion unit includes a first lead screw and a first slider. The first lead screw passes through the first slider and passes through the housing structure of the guide wire rotary motion unit. The first slider is connected to the housing structure of the guide wire rotary motion unit. When the first slider slides on the first lead screw, it drives the housing structure to perform linear motion along the first lead screw, thereby driving the guide wire in the housing structure to perform linear motion.

[0014] Optionally, the guide wire vibration unit includes a slide rail, a second slider, a central gear guide post, a cylindrical roller fixing shaft, a cylindrical roller, and a first driving device. The slide rail is mounted on the module support fixing member, the second slider is mounted on the slide rail, and the second slider moves linearly along the slide rail. The central gear guide post passes through the second slider and is connected to the central gear. The second slider is used to axially guide and radially fix the central gear. The cylindrical roller fixing shaft is located on one side of the central gear and is connected to a non-central position of the central gear. One end of the cylindrical roller is connected to the cylindrical roller fixing shaft. The cylindrical roller rotates along its fixed axis, and the other end of the cylindrical roller is connected to the first driving device. A spatial curved groove is provided on the side of the cylindrical roller, and the spatial curved groove is distributed in a sinusoidal curve on the side of the cylindrical roller. A sliding rod is provided on the second slider, and a sliding follower is provided at the top of the sliding rod. The sliding follower is embedded in the spatial curved groove. When the cylindrical roller rotates, the sliding follower reciprocates along the spatial curved groove, driving the second slider to reciprocate on the slide rail, and driving the guide wire clamping unit connected to the second slider to reciprocate, thereby controlling the guide wire to perform reciprocating linear impact motion.

[0015] Optionally, the guide wire vibration unit adopts a Scottish yoke structure, including an eccentric disk, a pin, a yoke, a first guide rail, and a second drive device. The yoke includes a groove and an output shaft. The pin is disposed on the edge of the eccentric disk, and the axis of the eccentric disk is connected to the drive shaft of the second drive device. The pin is embedded in the groove of the yoke. The eccentric disk, the pin, and the yoke are disposed inside the first guide rail. The output shaft of the yoke passes through the first guide rail, and the guide wire clamping unit is connected to the output shaft. When the second drive device drives the eccentric disk to rotate, the pin reciprocates in the groove of the yoke, causing the yoke to reciprocate in the first guide rail, thereby causing the output shaft and the guide wire clamping unit to reciprocate, controlling the guide wire to perform reciprocating linear impact motion.

[0016] Optionally, the guidewire vibration unit adopts an intermittent cam structure, including a rotating component, a step, a first elastic component, and a third driving device. The rotating component is provided with multiple blades and is connected to the third driving device. One end of the step abuts against one blade of the rotating component, and the other end of the step is connected to one end of the first elastic component. The other end of the first elastic component is connected to the module support and fixing component. The step is also connected to the guidewire clamping unit. When the third driving device drives the rotating component to rotate and push the step to compress or expand the first elastic component, the guidewire clamping unit performs reciprocating motion, thereby controlling the guidewire to perform reciprocating linear impact motion.

[0017] Optionally, the guide wire vibration unit adopts a grooved wheel structure, including a driving wheel, a driven grooved wheel, a pin, and a fourth driving device. The axis of the driving wheel is connected to the drive shaft of the fourth driving device. The driven grooved wheel has multiple radial grooves at preset intervals. The driven grooved wheel is provided with a gear and rack structure, which includes a rack and a gear. The rack and the gear are meshed together. The rack is connected to the guide wire clamping unit, and the gear is connected to the driven grooved wheel. The fourth driving device drives the driving wheel to rotate, and the pin enters the radial groove of the driven grooved wheel. The pin interacts with the groove wall of the radial groove. The contact causes the driven grooved wheel to rotate through a preset angle. The fourth driving device drives the driving wheel to continue rotating. The pin rotates out of the radial groove opening, and the rotation of the driven grooved wheel stops synchronously. After the pin leaves the driven grooved wheel, the locking arc on the driving wheel abuts against the convex arc on the driven grooved wheel, locking the driven grooved wheel in the current position. The driving wheel continues to rotate idling until the pin enters the next radial groove opening again, starting the next round of driving. The driven grooved wheel drives the rack to move back and forth through rotation. The rack drives the guide wire clamping unit to perform reciprocating linear impact motion.

[0018] Optionally, the guide wire vibration unit adopts a crank-double rod sliding structure, including a first crank, a first connecting rod, a second connecting rod, a first sliding member, a first guide member, and a fifth driving device. One side of the shaft of the first crank is connected to the drive shaft of the fifth driving device, and the other side of the shaft of the first crank is connected to one end of the first connecting rod through a rotating shaft. The other end of the first connecting rod is connected to one end of the second connecting rod through a rotating shaft, and the other end of the second connecting rod is connected to the first sliding member through a rotating shaft. The first sliding member is connected to the first guide member through a slide rail, and the first sliding member is also connected to the guide wire clamping unit. The first sliding member slides back and forth within the first guide member. When the fifth driving device drives the first crank to rotate, the first crank drives the first connecting rod to rotate, the first connecting rod drives the second connecting rod to rotate, and the second connecting rod drives the first sliding member to perform reciprocating linear motion within the first guide member, thereby driving the guide wire clamping unit to perform reciprocating linear impact motion.

[0019] Optionally, the guide wire vibration unit adopts a crank-single-rod sliding structure, including a second crank, a third connecting rod, a second sliding member, a second guide member, and a sixth driving device. One side of the shaft of the second crank is connected to the drive shaft of the sixth driving device, and the other side of the shaft of the second crank is connected to one end of the third connecting rod through a rotating shaft. The other end of the third connecting rod is connected to the second sliding member through a rotating shaft. The second sliding member is connected to the second guide member through a slide rail. The second sliding member is also connected to the guide wire clamping unit. The second sliding member slides back and forth within the second guide member. When the sixth driving device drives the second crank to rotate, the second crank drives the third connecting rod to rotate. The third connecting rod drives the second sliding member to perform reciprocating linear motion within the second guide member, thereby driving the guide wire clamping unit to perform reciprocating linear impact motion.

[0020] Optionally, the guide wire vibration unit adopts a second housing structure, including a front cover, a second central gear, a second drive gear, and a rear cover. The front cover is connected to the rear cover. The second drive gear is fixed between the front cover and the rear cover via a second rotary motion drive shaft. The second central gear meshes with the second drive gear. A magnetic rod is provided on the second central gear. Magnetic rods are also provided on the front and rear covers. The two ends of the magnetic rods are N and S poles, respectively. The guide wire passes through the center of the second central gear, and the second central gear is connected to the guide wire clamping unit. In the initial position, the polarity of one end of the magnetic rod on the second central gear is opposite to that of one end of the magnetic rod on the front cover of the housing, and the polarity of one end of the magnetic rod on the second central gear is the same as that of one end of the magnetic rod on the rear cover of the housing. The second central gear is attracted to the front cover of the housing. When the second drive gear rotates, causing the second central gear to rotate, the polarity of the other end of the magnetic rod on the second central gear is either the same as or opposite to that of one end of the magnetic rod on the front cover of the housing, resulting in mutual repulsion or attraction. The polarity of the other end of the magnetic rod on the second central gear is either opposite to or the same as that of one end of the magnetic rod on the rear cover of the housing, resulting in mutual attraction or repulsion. The second central gear moves radially back and forth, driving the guide wire clamping unit to perform reciprocating linear impact motion.

[0021] The support module includes multiple sets of lead screw slides, a support body, and a robotic arm. The multiple sets of lead screw slides are disposed inside the support body. The support body is connected to the DSA operating table via the robotic arm. The multiple sets of lead screw slides are arranged parallel to each other. The robotic arm includes a robotic arm base, a vertical arm, and a horizontal arm. The robotic arm base and the vertical arm are connected by a joint structure. The vertical arm adjusts its direction by rotation and its height by extension. The horizontal arm is connected to the vertical arm by a joint structure and its length is adjusted by extension.

[0022] Optionally, the plurality of screw slides includes a first set of screw slides, a second set of screw slides, a third set of screw slides, and a fourth set of screw slides. The first set of screw slides is used to fix the Y valve used in interventional surgery and control the Y valve to move linearly along the stent body. The second set of screw slides is used to fix the catheter module and control the catheter module to move linearly along the stent body. The third set of screw slides is used to fix the motion module and control the motion module to move linearly along the stent body. The fourth set of screw slides is disposed at the bottom of the stent body and is connected to one end of the horizontal arm. The fourth set of screw slides is used to control the Y valve, the catheter module, and the motion module to move linearly simultaneously.

[0023] Optionally, the third and fourth sets of lead screw slides are equipped with lead screw clutch structures. These clutch structures are located inside the support body and include a crankshaft, a semi-engaged toothed slider, a second elastic component, and a second lead screw. The semi-engaged toothed slider has a through-hole for the lead screw. The lower half of the through-hole has a threaded inner wall, while the upper half has a smooth inner wall. The lead screw passes through the through-hole. The crankshaft is positioned above the semi-engaged toothed slider. One end of the second elastic component is connected to the bottom of the semi-engaged toothed slider, and the other end is connected to the bottom inner wall of the support body. Under the elastic action of the second elastic component, the second lead screw contacts the lower half of the through-hole. Rotating the second lead screw controls the linear movement of the lead screw slide.

[0024] The vascular interventional guidewire and catheter system of this application employs a retractable guidewire clamping unit to hold the guidewire, and a catheter module to support the guidewire as it passes through, thereby improving the clamping stability of the guidewire, preventing guidewire displacement, and improving operational reliability. The motion module uses a guidewire rotation unit to control the guidewire's rotational movement, a guidewire linear movement unit to control the guidewire's linear movement, and a guidewire vibration unit to control the guidewire's reciprocating impact movement, enabling multiple movement modes to be implemented simultaneously. This allows the guidewire to pass through lesion areas with high resistance, improving guidewire passage. A stent module supports and controls the movement of the guidewire module, catheter module, and motion module to the target surgical position, improving intraoperative adjustment flexibility, reducing physician radiation exposure, minimizing operational fatigue, and increasing surgical success rate.

[0025] Other technical effects resulting from the additional features will be further illustrated in the corresponding embodiments. Attached Figure Description

[0026] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a partial structural schematic diagram of a vascular interventional guidewire catheter system according to an exemplary embodiment.

[0027] Figure 2 This is a schematic diagram of a guide wire clamping unit according to an exemplary embodiment.

[0028] Figure 3 This is a schematic diagram of the structure of a guide wire rotation motion unit according to an exemplary embodiment.

[0029] Figure 4 This is a schematic diagram of another guidewire rotation motion unit according to an exemplary embodiment.

[0030] Figure 5 This is a schematic diagram of the structure of a guidewire linear motion unit according to an exemplary embodiment.

[0031] Figure 6 This is a schematic diagram of the structure of a guide wire vibration unit according to an exemplary embodiment.

[0032] Figure 7 This is a schematic diagram of the structure of a guide wire vibration unit according to an exemplary embodiment.

[0033] Figure 8 This is a schematic diagram of another guidewire vibration unit according to an exemplary embodiment.

[0034] Figure 9 This is a schematic diagram of another guidewire vibration unit according to an exemplary embodiment.

[0035] Figure 10 This is a schematic diagram of another guidewire vibration unit according to an exemplary embodiment.

[0036] Figure 11 This is a schematic diagram of another guidewire vibration unit according to an exemplary embodiment.

[0037] Figure 12 This is a schematic diagram of another guidewire vibration unit according to an exemplary embodiment.

[0038] Figure 13 This is a schematic diagram of another guidewire vibration unit according to an exemplary embodiment.

[0039] Figure 14 This is a schematic diagram of another guidewire vibration unit according to an exemplary embodiment.

[0040] Figure 15 This is a schematic diagram of another guidewire vibration unit according to an exemplary embodiment.

[0041] Figure 16 This is a schematic diagram of another guidewire vibration unit according to an exemplary embodiment.

[0042] Figure 17 This is a schematic diagram of the structure of a support module according to an exemplary embodiment.

[0043] Figure 18 This is a schematic diagram of a lead screw clutch structure according to an exemplary embodiment.

[0044] Figure 19 This is a schematic diagram of a lead screw clutch structure according to an exemplary embodiment.

[0045] In the diagram: 1 represents the vascular interventional guidewire and catheter system; 11 is the guide wire module, 111 is the guide wire clamping unit, 1111 is the guide wire clamp, 1112 is the telescopic rod, 1113 is the tail knob, and 112 is the guide wire; 12 is the catheter module; 13 is the motion module, 131 is the guide wire rotation motion unit, 1311 is the central gear, 1312 is the first through hole, 1313 is the drive gear, 1314 is the second through hole, and 1315 is the rotation motion drive shaft. 132 is the guide wire linear motion unit, 1321 is the first lead screw, and 1322 is the first slider; 133 is the guide wire vibration unit, 1331 is the slide rail, 1332 is the second slider, 1333 is the central gear guide post, 1334 is the cylindrical roller, 1335 is the spatial curved groove, 1336 is the slide rod, 1337 is the sliding follower, and 1338 is the cylindrical roller fixed shaft. 1341 is the first guide rail, 1342 is the eccentric disk, 1343 is the yoke, and 1344 is the pin. 1351 is a rotating component, 1352 is a step, and 1353 is the first elastic component; 1361 is the second drive gear, 1362 is the second center gear, and 1363 is a magnetic rod; 1371 is the driving wheel, 1372 is the driven grooved wheel, 1373 is the pawl, and 1374 is a gear and rack structure; 1381 is the first crank, 1382 is the first connecting rod, 1383 is the second connecting rod, 1384 is the first sliding member, and 1385 is the first guide member; 1391 is the second crank, 1392 is the third connecting rod, 1393 is the second sliding member, and 1394 is the second guide member; 14 is a bracket module, 141 is a support device, 142 is a lead screw clutch structure, 1421 is a crankshaft, 1422 is a semi-meshing tooth slider, 1423 is a second elastic component, 1424 is a second lead screw, and 1425 is a through lead screw hole; 15 is the module support and fixing component; 16 is the box structure. Detailed Implementation

[0046] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application. These all fall within the protection scope of the present application.

[0047] In the description of the embodiments of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0048] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0049] In the description of the embodiments in this application, "multiple" means two or more, unless otherwise explicitly specified. In this application, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0050] The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or devices.

[0051] Existing minimally invasive interventional guidewire techniques require surgeons to operate at close range during procedures, which exposes them to radiation exposure and can lead to fatigue and hand tremors due to prolonged, delicate manipulation, affecting the accuracy and success rate of surgeries for complex lesions. The guidewire drive device has a limited range of motion, only capable of linear pushing and rotation, which is insufficient for navigating complex lesions such as calcification and CTO. Guidewire clamping mechanisms are often simple friction clamping, prone to slippage or damage, resulting in low operational reliability. Delivery catheters are made of a single material, failing to balance in-body flexibility and external support, easily damaging blood vessels or causing thrust loss. Adjusting the position of the operating table or robotic arm is inconvenient, switching between coarse and fine adjustments is difficult, preoperative preparation is time-consuming, and intraoperative adjustment flexibility is poor. To address these issues, this application provides a vascular interventional guidewire and catheter system to resolve these problems.

[0052] Figure 1 This is a partial structural schematic diagram of a vascular interventional guidewire and catheter system according to an exemplary embodiment. Figure 1 (a) in the diagram represents a partial structural schematic of a vascular interventional guidewire and catheter system. Figure 1 (b) in the diagram represents a partial structural schematic of the vascular interventional guidewire catheter system after the shell 17 has been removed.

[0053] Reference Figure 1 As shown in (a) and (b) in this application, one embodiment of the present application provides a vascular interventional guidewire and catheter system 1, including: a guidewire module 11, a catheter module 12, a motion module 13, and a stent module 14.

[0054] The guide wire module 11 includes a retractable guide wire clamping unit 111 and a guide wire 112, wherein the guide wire clamping unit 111 clamps the guide wire 112; The catheter module 12 is located at one end of the guidewire module 11 and is used to support the guidewire 112. The guidewire 112 passes through the catheter module 12. The motion module 13 includes a guide wire rotation motion unit 131, a guide wire linear motion unit 132, and a guide wire vibration unit 133. The motion module 13 is disposed at the other end of the guide wire module 11 and connected to the guide wire module 11. The guide wire rotation motion unit 131 is used to control the guide wire 112 to perform rotational motion, the guide wire linear motion unit 132 is used to control the guide wire 112 to perform linear motion, and the guide wire vibration unit 133 is used to control the guide wire 112 to perform reciprocating linear impact motion. Specifically, the motion module 13 can adopt a square or cylindrical shell structure. The stent module 14 is used to support and control the guidewire module 11, catheter module 12 and motion module 13 to move to the target surgical position.

[0055] In the above embodiments of this application, a retractable guidewire clamping unit 111 is used to clamp the guidewire, and a catheter module 12 is used to support the guidewire as it passes through, thereby improving the clamping stability of the guidewire 112, preventing the guidewire 112 from shifting, and improving operational reliability. The guidewire rotation motion unit 131 in the motion module 13 controls the guidewire 112 to rotate, the rotation motion drive shaft 1315 controls the guidewire 112 to move linearly, and the guidewire vibration unit 133 controls the guidewire 112 to move reciprocatingly. This allows for the simultaneous implementation of multiple motion modes, enabling the guidewire 112 to pass through lesion areas with high resistance, thus improving the guidewire 112's passability. A stent module 14 supports and controls the guidewire module 11, catheter module 12, and motion module 13 to move to the target surgical position, improving the flexibility of intraoperative adjustments, reducing the doctor's radiation exposure, reducing operational fatigue, and improving the success rate of the surgery.

[0056] Reference Figure 1 As shown in some specific embodiments of this application, the vascular interventional guidewire catheter system 1 further includes a housing 17. The housing of the vascular interventional guidewire catheter system 1 is provided with a guidewire module 11 and a motion module 13, and the catheter module 12 is disposed outside the housing 17.

[0057] In some specific embodiments of this application, the conduit module 12 includes a polymer tube and a metal spiral-cut tube, with the metal spiral-cut tube sleeved on the outside of the polymer tube.

[0058] Specifically, the polymer tube includes a tip, a developing ring, a tube body, and a polymer tube base. One end of the tube body is connected to the tip, the developing ring is fitted onto one end of the tube body, and the other end of the tube body is connected to the polymer base.

[0059] The metal spiral cut tube includes a metal spiral cut tube body and a metal spiral cut tube base. The metal spiral cut tube body is set on the metal spiral cut tube base, and the polymer tube base is connected to the metal spiral cut tube base.

[0060] Specifically, the catheter module 12 is mounted on the support module 14 via the support device 141.

[0061] For example, the polymer tube is approximately 500-1500 mm long, with a tip at the end and a imaging ring for imaging within the tube body. The metal spiral-cut tube is approximately 100-1000 mm long and can be made of materials commonly used in medical devices, such as stainless steel.

[0062] The metal spiral cutting tube features a gradually changing thread spacing, with a denser spacing at the front end and a sparser spacing at the rear end. This ensures that the front end of the metal spiral cutting tube is flexible inside the blood vessel lumen, while the rear end provides strong support outside the body.

[0063] The embodiments described above in this application achieve stable transmission of operating force through the composite nesting of a polymer inner tube and a metal spiral cutting tube, as well as the co-welding structure at the tail end. The imaging ring function significantly improves the positioning accuracy of the catheter during the operation. The spiral cutting tube adopts a "dense at the front and sparse at the back" gradually changing thread design, which enables the front end to have excellent flexibility and compliance in the blood vessel, effectively reducing the risk of vascular injury. The rear end provides strong pushing force and high torque response, which facilitates precise control. The overall structure can meet the clinical needs of soft distal wall adhesion and strong proximal support, improving the passability, operational safety and surgical efficiency of the vascular interventional guidewire catheter system 1 in complex and tortuous blood vessels.

[0064] Figure 2 This is a schematic diagram of a guide wire clamping unit according to an exemplary embodiment.

[0065] Reference Figure 2 As shown in some specific embodiments of this application, the guide wire clamping unit 111 includes a first magnetic induction component, a second magnetic induction component, a guide wire clamp 1111, a telescopic rod 1112, and a tail knob 1113. The first magnetic induction component is disposed at one end of the guide wire clamp 1111, the second magnetic induction component is disposed at the other end of the guide wire clamp 1111, and the other end of the guide wire clamp 1111 is connected to one end of the telescopic rod 1112. The other end of the telescopic rod 1112 is connected to the tail knob 1113 by magnetic coupling.

[0066] Specifically, N magnets are installed inside the other end of the telescopic rod 1112, and N magnets are installed inside the tail knob 1113. The telescopic rod 1112 and the tail knob 1113 are magnetically coupled together by mutual attraction between the magnets.

[0067] The first magnetic induction component includes a first magnetic induction coil and a transmitting module, with the first magnetic induction coil connected to the transmitting module. The second magnetic induction component includes a second magnetic induction coil and a receiving module, with the second magnetic induction coil connected to the receiving module.

[0068] The guide wire holder 1111 includes a conical head, a multi-lobed metal claw, and a connecting rod. The conical head and one end of the connecting rod are connected by a thread. The multi-lobed metal claw is disposed between the conical head and the connecting rod. The other end of the connecting rod is connected to one end of the telescopic rod 1112. The tail knob 1113 is used to control the connecting rod to squeeze the multi-lobed metal claw to lock the guide wire 112 by rotating clockwise, and the tail knob 1113 is used to control the connecting rod to squeeze the multi-lobed metal claw to unlock the guide wire 112 by rotating counterclockwise.

[0069] The telescopic rod 1112 includes multiple telescopic tubes connected end to end. The first telescopic tube is connected to one end of the connecting rod, and the last telescopic tube is fixedly connected to the tail knob 1113. The tail knob 1113 is connected to the side wall of the housing 17 of the vascular interventional guidewire catheter system 1 through a magnetic coupling structure.

[0070] Specifically, each telescopic tube is connected to other telescopic tubes through any one of the following structures: D-shaped structure, polygonal structure, or convex-concave key structure.

[0071] Specifically, N magnets are also provided inside the side wall of the housing 17 of the vascular interventional guidewire catheter system 1. The magnetic force between the magnets attracts each other to keep the tail knob 1113 always attached to the side wall of the housing 17, fixing the position of the telescopic rod 1112 to ensure the retraction of the telescopic rod 1112 and prevent the telescopic rod 1112 from shifting. In addition, the diameter of the tail knob 1113 is larger than the diameter of the installation channel on the housing 17 of the vascular interventional guidewire catheter system 1 that connects to the tail knob 1113, so as to ensure the extension of the telescopic rod 1112 and prevent the telescopic rod 1112 from shifting.

[0072] Specifically, when the tail knob 1113 is rotated clockwise, the connecting rod is rotated through the telescopic rod 1112 to squeeze the multi-lobed metal claw and lock the guide wire 112.

[0073] When the tail knob 1113 is rotated counterclockwise, the connecting rod is rotated by the telescopic rod 1112 to squeeze the multi-lobed metal claw and unlock the guide wire 112.

[0074] When the guide wire clamping unit 111 moves forward, it drives the telescopic rod 1112 to stretch, and the multi-section telescopic tube of the telescopic rod 1112 extends, making the telescopic rod 1112 longer.

[0075] When the guide wire clamping unit 111 moves backward, the telescopic rod 1112 retracts, the multi-section telescopic tube of the telescopic rod 1112 retracts, and the telescopic rod 1112 becomes shorter.

[0076] The guide wire holder 1111 has through holes at the axial positions of the conical head, multi-lobed metal claw, connecting rod, telescopic tube, and tail knob 1113 to allow the guide wire 112 to pass through. The diameter of the through holes is 0.1-5mm.

[0077] The guide wire 112 includes a front-end coil, a metal core wire, and a guide wire body. The guide wire clamping unit 111 clamps the guide wire body of the guide wire 112.

[0078] In the above embodiments of this application, non-contact signal transmission and position / status monitoring are achieved through magnetic induction components at both ends of the guidewire holder 1111, effectively avoiding cable interference and tangling. The guidewire holder 1111 adopts a wedge-shaped fit of a conical head and multi-lobed metal claws, combined with the clockwise / counterclockwise rotation of the tail knob 1113, to achieve rapid and uniform locking and non-destructive release of the guidewire 112, ensuring stable clamping without damaging the guidewire 112. The multi-section telescopic tube design allows for flexible adjustment of the unit length of the telescopic rod 1112, saving storage space and adapting to different surgical operation distances. The tail knob 1113 is magnetically coupled to the side wall of the housing 17, facilitating stable positioning of the guidewire 112 and intraoperative path management. The overall structure is compact and user-friendly, significantly improving the accuracy, safety, and clinical operation efficiency of guidewire 112 control in vascular interventional surgery.

[0079] Figure 3 This is a schematic diagram of the structure of a guide wire rotation motion unit according to an exemplary embodiment. Figure 4 This is a schematic diagram of another guidewire rotation motion unit according to an exemplary embodiment.

[0080] Reference Figure 3 , Figure 4 As shown, in order to realize the rotational movement of the guide wire 112, in some specific embodiments, the guide wire rotational movement unit 131 adopts a box structure, including a gear set structure. The gear set structure includes a central gear 1311, a drive gear 1313, and a rotational motion drive shaft 1315. The central gear 1311 is meshed with the drive gear 1313. A first through hole 1312 is provided at the center of the central gear 1311 for the guide wire 112 to pass through. A second through hole 1314 is provided at the center of the drive gear 1313. The rotational motion drive shaft 1315 passes through the second through hole 1314 to drive the drive gear 1313 to rotate, and also drives the central gear 1311 to rotate.

[0081] Specifically, the drive gear 1313 drives the center gear 1311, the module support and fixing member 15 connected to the center gear 1311, the guide wire vibration unit 133, and the guide wire 112 held by the guide wire clamping unit 111 to rotate.

[0082] Specifically, the second through hole 1314 can be configured as a polygon, a D-shape, or a concave-convex key structure, and the rotary motion drive shaft 1315 can adopt shapes such as polygons, D-shapes, or concave-convex key structures.

[0083] Specifically, the rotary motion drive shaft 1315 can be connected to the drive shaft of the drive device. The drive device provides rotational driving force to the guide wire rotary motion unit 131, which is transmitted to the drive gear 1313 through the rotary motion drive shaft 1315, driving the drive gear 1313 to rotate, thereby driving the center gear 1311 to rotate.

[0084] The guidewire rotation unit 131 is located inside the housing structure 16 of the vascular interventional guidewire catheter system 1. A vertical channel from top to bottom is provided on the top of the housing structure 16 and the central gear 1311 from the edge to the first through hole 1312, so that the guidewire 112 can be inserted into the housing structure 16 from top to bottom and pass through the first through hole 1312 of the central gear 1311.

[0085] In some specific embodiments, the guide wire rotation motion unit 131 can also adopt a worm gear structure, with one end of the worm gear meshing with the worm. A third through hole is provided at the center of the worm gear for the guide wire 112 to pass through. The other end of the worm is connected to the drive shaft of the drive device. The drive device provides rotational driving force to the guide wire rotation motion unit 131, which is transmitted to the worm gear through the worm, driving the worm to rotate, and thus driving the worm gear to rotate.

[0086] The guidewire rotation unit 131 is located inside the housing structure 16 of the vascular interventional guidewire catheter system 1. A vertical channel from top to bottom is provided on the top of the housing structure 16 and from the edge of the worm gear to the third through hole, so that the guidewire 112 can be inserted into the housing structure 16 from top to bottom and pass through the third through hole of the worm gear.

[0087] In some specific embodiments of this application, the vascular interventional guidewire catheter system 1 further includes a module support and fixation member 15. The module support and fixation member 15 is disposed on one side of the central gear 1311 and connected to the non-center position of the central gear 1311. The module support and fixation member 15 is used to fix the guidewire vibration unit 133, which is connected to the guidewire clamping unit 111.

[0088] Specifically, the module support fastener 15 can adopt a cylindrical structure or a platform structure.

[0089] If the guide wire rotation motion unit 131 adopts a worm gear structure, the module support fixing part 15 is set on one side of the worm gear and connected to the worm gear.

[0090] When the guide wire rotation unit 131 is driven by the driving device, the guide wire clamping unit 111 is coaxially connected with the central gear 1311. When the central gear 1311 is driven to rotate by the driving gear 1313, the guide wire vibration unit 133 and the guide wire clamping unit 111 on the module support fixing member 15 connected to the central gear 1311 also rotate, thereby driving the guide wire 112 to rotate.

[0091] In the embodiments described above, the guidewire rotation motion unit 131 adopts a gear set structure or a worm gear structure to separate the power input from the guidewire 112 channel, resulting in a compact structure and high space utilization. The central gear 1311 or worm gear coaxially passes through the guidewire 112, ensuring that the guidewire 112 is subjected to uniform force and free from interference and torsion during rotation. The gear meshing or worm gear meshing drives the module support fixing component 15, the guidewire vibration unit 133, and the guidewire clamping unit 111 to move synchronously, achieving precise coordination of the guidewire 112's rotation, vibration, and clamping state, effectively avoiding phase deviation and motion interference when multiple modules operate independently. The overall transmission is smooth and the torque transmission is efficient, significantly improving the synchronization, accuracy, and system reliability of the guidewire 112 in complex blood vessels.

[0092] Figure 5 This is a schematic diagram of the structure of a guidewire linear motion unit according to an exemplary embodiment.

[0093] Reference Figure 5 As shown in some specific embodiments of this application, the rotary motion drive shaft 132 includes a first lead screw 1321 and a first slider 1322. The first lead screw 1321 passes through the first slider 1322 and passes through the housing structure 16 of the guide wire rotary motion unit 131. The first slider 1322 is connected to the housing structure 16 of the guide wire rotary motion unit 131. When the first slider 1322 slides on the first lead screw 1321, it drives the housing structure 16 to perform linear motion along the first lead screw 1321, thereby driving the guide wire 112 inside the housing structure 16 to perform linear motion.

[0094] Specifically, the first slider 1322 can be fixed inside the box structure 16 or outside the box structure 16.

[0095] In the above embodiments of this application, the rotary motion drive shaft 132 adopts a lead screw-slider transmission structure to achieve linear feeding of the guidewire 112, which has good linearity of motion trajectory, smooth transmission and high positioning accuracy; the first slider 1322 directly drives the entire housing structure 16 to move along the first lead screw 1321, effectively simplifying the transmission path, avoiding multi-stage transmission gaps and cumulative errors, and ensuring precise and synchronous advance and retreat of the guidewire 112; the structure is compact and the operation is reliable, which can realize fine-tuning control and stable residence of the guidewire 112, significantly improving the smoothness, accuracy and clinical operation safety of guidewire 112 control in vascular interventional surgery.

[0096] Figure 6 This is a schematic diagram illustrating the structure of a guidewire vibration unit according to an exemplary embodiment. Figure 7 This is a schematic diagram of the structure of a guide wire vibration unit according to an exemplary embodiment.

[0097] Reference Figure 6 , Figure 7 As shown in some specific embodiments of this application, the guide wire vibration unit 133 includes a slide rail 1331, a second slider 1332, a central gear guide post 1333, a cylindrical roller fixing shaft 1338, a cylindrical roller 1334, and a first driving device. The slide rail 1331 is mounted on the module support fixing member 15, and the second slider 1332 is mounted on the slide rail 1331. The second slider 1332 moves linearly along the slide rail 1331. The central gear guide post 1333 passes through the second slider 1332 and is connected to the central gear 1311. The second slider 1332 is used to axially guide and radially fix the central gear 1311. The cylindrical roller fixing shaft 1338 is located on one side of the central gear 1311 and is connected to a non-central position of the central gear 1311. One end of the cylindrical roller 1334 is connected to the cylindrical roller fixing shaft 1338. The cylindrical roller 1334 rotates along the fixed shaft 1338 of the cylindrical roller, and the other end of the cylindrical roller 1334 is connected to the first driving device. A spatial curved groove 1335 is provided on the side of the cylindrical roller 1334. The spatial curved groove 1335 is distributed in a sinusoidal curve on the side of the cylindrical roller 1334. A sliding rod 1336 is provided on the second slider 1332. A sliding follower 1337 is provided at the top of the sliding rod 1336. The sliding follower 1337 is embedded in the spatial curved groove 1335. When the cylindrical roller 1334 rotates, the sliding follower 1337 reciprocates along the spatial curved groove 1335, which drives the second slider 1332 to reciprocate on the slide rail 1331, which in turn drives the guide wire clamping unit 111 connected to the second slider 1332 to reciprocate, thereby controlling the guide wire 112 to perform reciprocating linear impact motion.

[0098] Specifically, the first driving device is used to provide driving force for the cylindrical roller 1334, drive the cylindrical roller 1334 to rotate, drive the slide rod 1336 on the second slider 1332 to reciprocate along the spatial curved groove 1335, the second slider 1332 to move linearly along the slide rail 1331, the second slider 1332 drives the central gear guide post 1333 and the guide wire clamping unit 111 to reciprocate, and then drives the guide wire 112 to reciprocate linear impact motion.

[0099] The curvature of the spatial curved groove 1335 is determined according to the adaptability of the length of the guide wire clamping unit 111, the cylindrical roller 1334, and the slide rod 1336.

[0100] In the above embodiments of this application, the efficient cooperation between the cylindrical roller 1334, the spatial curved groove 1335, the slide rail 1331, the second slider 1332, and the sliding follower 1337 precisely transforms the driving rotation of the first driving device into a controllable reciprocating linear impact. The guide rail 1331 ensures high linearity of the motion trajectory and no lateral interference. The guidewire vibration unit 133 is connected to the guidewire clamping unit 111, resulting in a short vibration energy transmission path and rapid response. This micro-amplitude high-frequency impact can effectively break the static friction between the guidewire 112 and the blood vessel wall, significantly improving the penetration and passage ability of the guidewire 112 in calcified, stenotic, or highly tortuous lesions. At the same time, it replaces the operator's manual forceful pushing, reduces the risk of vascular perforation, and greatly improves the operational safety, accuracy, and success rate of complex interventional surgery.

[0101] Figure 8 This is a schematic diagram of another guidewire vibration unit according to an exemplary embodiment. Figure 9 This is a schematic diagram of another guidewire vibration unit according to an exemplary embodiment.

[0102] Reference Figure 8 , Figure 9 As shown in some specific embodiments of this application, the guide wire vibration unit 133 adopts a Scottish yoke structure, including an eccentric disk 1342, a pin 1344, a yoke 1343, a first guide rail 1341, and a second drive device. The yoke includes a groove and an output shaft. The pin 1344 is disposed on the edge of the eccentric disk 1342. The axis of the eccentric disk 1342 is connected to the drive shaft of the second drive device. The pin 1344 is embedded in the groove of the yoke 1343. The eccentric disk 1342, the pin 1344, and the yoke... 1343 is located inside the first guide rail 1341. The output shaft of the yoke 1343 passes through the first guide rail 1341. The guide wire clamping unit 111 is connected to the output shaft. When the second drive device drives the eccentric disk 1342 to rotate, the pin 1344 reciprocates in the slide groove of the yoke 1343, causing the yoke 1343 to reciprocate in the first guide rail 1341, thereby causing the output shaft and the guide wire clamping unit 111 to reciprocate, controlling the guide wire 112 to perform reciprocating linear impact motion.

[0103] Specifically, the first guide rail 1341 can adopt a closed shell structure or an open plate structure.

[0104] The distance between the center of the eccentric disk 1342 and the pin 1344 can be set to 1-30mm. Preferably, the distance between the center of the eccentric disk 1342 and the pin 1344 can be set to <2mm.

[0105] The length of the yoke 1343 can be set to 1-2 times the distance between the center of the eccentric disk 1342 and the pin 1344, and the width of the yoke 1343 can be set to be the same as the diameter of the pin 1344.

[0106] In the above embodiments of this application, the rotational drive is efficiently and directly converted into the reciprocating linear impact of the guidewire 112 through the cooperation of the pin 1344 and the yoke 1343 on the eccentric disc 1342. The transmission chain is short, the energy loss is low, and the motion trajectory is stable and controllable. This micro-amplitude high-frequency impact can effectively eliminate static friction and plaque resistance between the guidewire 112 and the blood vessel wall, significantly improving the penetration and passage ability of the guidewire 112 in calcified, stenotic, or highly tortuous lesions. At the same time, it replaces the operator's manual "rubbing" to achieve precise adjustment of the impact frequency and amplitude, greatly reducing the risk of vascular perforation and operator fatigue, and comprehensively enhancing the safety, accuracy, and clinical operation efficiency of complex vascular interventional surgery.

[0107] Figure 10 This is a schematic diagram of another guidewire vibration unit according to an exemplary embodiment. Figure 11 This is a schematic diagram of another guidewire vibration unit according to an exemplary embodiment. Figure 12 This is a schematic diagram of another guidewire vibration unit according to an exemplary embodiment.

[0108] Reference Figures 10 to 12 As shown in some specific embodiments of this application, the guide wire vibration unit 133 is an intermittent cam structure, including a rotating component 1351, a step 1352, a first elastic component 1353, and a third driving device. The rotating component 1351 is provided with multiple blades, which can be a three-blade or multi-blade structure, for example. The rotating component 1351 is connected to the third driving device. One end of the step 1352 abuts against one blade of the rotating component 1351, and the other end of the step 1352 is connected to one end of the first elastic component 1353. The other end of the first elastic component 1353 is connected to the module support fixing component 15. The step 1352 is also connected to the guide wire clamping unit 111. When the third driving device drives the rotating component 1351 to rotate and push the step 1352 to compress or relax the first elastic component 1353, the guide wire clamping unit 111 generates reciprocating motion, thereby controlling the guide wire 112 to perform reciprocating linear impact motion.

[0109] Specifically, the rotating component 1351 includes a rotating wheel, a connecting component, and a fixed shaft. The fixed shaft is located at the center of the connecting component, and the rotating wheel is located at the edge of the connecting component. The fixed shaft is connected to the drive shaft of the third driving device, which provides driving force to drive the rotating component 1351 to rotate.

[0110] Step 1352 can adopt a multi-level ladder structure.

[0111] When the third drive device drives the rotating component 1351 to rotate, the wheel pushes the step 1352 to compress the first elastic component 1353, controlling the guide wire clamping unit 111 to move forward. When the wheel passes the step 1352 and separates from the step 1352, the compressed first elastic component 1353 relaxes, and the guide wire clamping unit 111 moves backward. When the rotating component 1351 continues to rotate, the guide wire clamping unit 111 performs reciprocating linear impact motion, thereby realizing that the guide wire 112 performs reciprocating linear impact motion.

[0112] The embodiments described above employ a rotary drive combined with the energy storage and release mechanism of the first elastic component 1353 to efficiently convert rotary motion into controllable reciprocating linear impact. The buffering and automatic reset functions of the first elastic component 1353 make the impact process gentle and avoid rigid collisions. The structure is compact and the transmission chain is short. The impact frequency and amplitude can be precisely adjusted by the drive speed. This micro-amplitude elastic impact can significantly break the static friction and plaque resistance between the guidewire 112 and the blood vessel wall, improve the penetration and passage ability in highly tortuous and calcified lesions, and take into account the operational safety, smoothness of movement and flexibility of clinical control.

[0113] In some specific embodiments of this application, the guide wire vibration unit 133 may also be a worm gear assembly or a gear set assembly.

[0114] For example, if the guide wire vibration unit 133 adopts a worm gear assembly, the guide wire vibration unit 133 includes a worm gear assembly and a second housing. The worm gear assembly includes a worm wheel and a worm. The worm wheel and the worm are disposed inside the second housing. Multiple magnetic induction coils are disposed on the edge of the worm wheel, and the polarities of adjacent magnetic induction coils are opposite. Multiple magnetic induction coils are disposed around the worm wheel on the inner wall of the second housing, and the polarities of adjacent magnetic induction coils are opposite. The guide wire 112 passes through the center of the worm wheel.

[0115] In the initial position, the magnetic induction coil on the worm wheel and the magnetic induction coil on the inner wall of the second housing attract each other. When the worm drives the worm wheel to rotate, the magnetic induction coil on the worm wheel and the magnetic induction coil on the inner wall of the second housing have the same or opposite magnetism, and repel or attract each other. The worm wheel moves back and forth in the second housing. The second housing restricts the range of the worm wheel's back and forth movement, and the guide wire 112 performs reciprocating linear impact motion.

[0116] The inner wall of the second housing is equipped with a polymer gasket. By adjusting the thickness of the polymer gasket, the amplitude of the worm gear's forward and backward movement can be adjusted, thereby adjusting the impact amplitude of the guide wire 112's reciprocating motion.

[0117] For example, if the guide wire vibration unit 133 adopts a gear assembly, the guide wire vibration unit 133 includes a central gear, a drive gear and a third housing. The central gear is meshed with the drive gear. Multiple magnetic induction coils are provided on the edge of the central gear, and adjacent magnetic induction coils have opposite polarities. Multiple magnetic induction coils are provided around the central gear on the inner wall of the third housing, and adjacent magnetic induction coils have opposite polarities. The guide wire 112 passes through the center of the central gear.

[0118] In the initial position, the magnetic induction coil on the central gear and the magnetic induction coil on the inner wall of the third housing attract each other. When the drive gear rotates and drives the central gear to rotate, the magnetic induction coil on the central gear and the magnetic induction coil on the inner wall of the third housing have the same or opposite magnetism, and repel or attract each other. The central gear moves back and forth in the third housing. The third housing restricts the range of the central gear's back and forth movement, driving the guide wire 112 to perform reciprocating linear impact motion.

[0119] Polymer gaskets can also be installed on the inner wall of the third housing. By adjusting the thickness of the polymer gaskets, the amplitude of the forward and backward movement of the central gear can be adjusted, thereby adjusting the impact amplitude of the reciprocating motion of the guide wire 112.

[0120] Figure 13 This is a schematic diagram of another guidewire vibration unit according to an exemplary embodiment.

[0121] Reference Figure 13As shown in some specific embodiments of this application, the guide wire vibration unit adopts a grooved wheel structure, including a driving wheel 1371, a driven grooved wheel 1372, a pin 1373, and a fourth driving device. The axis of the driving wheel 1371 is connected to the drive shaft of the fourth driving device. The driven grooved wheel 1372 is provided with multiple radial grooves at preset intervals, and the driven grooved wheel 1372 is provided with a gear and rack structure 1374. The gear and rack structure includes a rack and a gear, which are meshed together. The rack is connected to the guide wire clamping unit 111, and the gear is connected to the driven grooved wheel 1372. The fourth driving device drives the driving wheel 1371 to rotate, and the pin 1373 enters the radial groove of the driven grooved wheel 1372. Through the contact between the pin 1373 and the groove wall of the radial groove, the driven grooved wheel 1372 is driven to rotate through a preset angle, such as a 4-grooved wheel, rotating 90° each time. The fourth drive unit drives the driving wheel 1371 to continue rotating, and the pin 1373 rotates out of the radial groove, and the rotation of the driven wheel 1372 stops synchronously. After the pin 1373 leaves the driven wheel 1372, the locking arc (concave arc) on the driving wheel 1371 abuts against the convex arc on the driven wheel 1372, locking the driven wheel 1372 in the current position. The driving wheel continues to rotate freely until the pin 1373 re-enters the next radial groove, starting the next drive cycle. The driven wheel 1372 drives the rack to move back and forth through rotation. The rack drives the guide wire clamping unit 111 to perform reciprocating impact motion, which in turn drives the guide wire 112 to perform reciprocating linear impact motion.

[0122] Specifically, the fourth drive device drives the driving wheel 1371 to rotate at a constant speed, and the pin 1373 enters the radial groove of the driven groove wheel 1372. Through the contact between the pin 1373 and the radial groove, the driven groove wheel 1372 is driven to rotate through a preset angle. When the pin 1373 rotates out of the radial groove, the driven groove wheel 1372 stops rotating.

[0123] For example, if the driven groove wheel 1372 is a four-groove driven groove wheel, its preset angle is 90°.

[0124] After the pin 1373 rotates out of the radial slot, the concave arc on the driven wheel 1372 abuts against the convex arc on the driving wheel 1371, locking the driven wheel 1372 in its current position to prevent it from shifting due to inertia or external force. The driving wheel 1371 continues to spin freely until the pin 1373 re-enters the next radial slot, starting the next drive cycle.

[0125] In the embodiments described above, the grooved wheel structure achieves precise alternating operation of short-term impact and long-term pause of the guide wire through an "intermittent indexing + circular arc self-locking" mechanism; the locking phase completely eliminates inertial slippage and external force disturbance, ensuring a high degree of consistency between the impact position and force; the motion rhythm is strictly determined by geometric parameters, with stable cycle and simple control, avoiding energy loss and mechanical fatigue caused by continuous high-frequency vibration; the overall structure is compact and the transmission is reliable, significantly improving the impact accuracy, repeatability, and system durability of the guide wire while effectively reducing operating noise.

[0126] Figure 14 This is a schematic diagram of another guidewire vibration unit according to an exemplary embodiment.

[0127] Reference Figure 14 As shown in some specific embodiments of this application, the guide wire vibration unit adopts a crank-double rod sliding structure, including a first crank 1381, a first connecting rod 1382, a second connecting rod 1383, a first sliding member 1384, a first guide member 1385, and a fifth driving device. One side of the shaft of the first crank 1381 is connected to the drive shaft of the fifth driving device, and the other side of the shaft of the first crank 1381 is connected to one end of the first connecting rod 1382 through a rotating shaft. The other end of the first connecting rod 1382 is connected to one end of the second connecting rod 1383 through a rotating shaft. The other end of the second connecting rod 1383 is connected to the first sliding member 1384 through a rotating shaft. The first sliding member 1384 is connected to the first guide member 1385 through a slide rail. The first sliding member 1384 is also connected to the guide wire clamping unit 111. The first sliding member 1384 slides back and forth within the first guide member 1385. When the fifth drive device drives the first crank 1381 to rotate, the first crank 1381 drives the first connecting rod 1382 to rotate, the first connecting rod 1382 drives the second connecting rod 1383 to rotate, and the second connecting rod 1383 drives the first sliding member 1384 to perform reciprocating linear motion within the first guide member 1385, thereby driving the guide wire clamping unit 111 to perform reciprocating linear impact motion.

[0128] In the above embodiments of this application, the first crank 1381 and the first sliding member 1384 have a mature and reliable transmission structure and a compact layout, which efficiently transforms uniform rotation into continuous and stable reciprocating linear impact of the guide wire; its motion law is approximately simple harmonic, and the acceleration transition is continuous, which significantly reduces rigid impact and high-frequency vibration, and improves dynamic stability and operating noise performance; with the precise constraint of the first guide member 1385, the risk of lateral deviation and jamming is completely eliminated, ensuring that the impact trajectory is straight, the force is uniform, and the repeatability is high; the overall mechanism has reasonable force distribution, low friction loss, and excellent fatigue resistance, and the impact frequency can be linearly changed by adjusting the drive speed, and the control logic is simple.

[0129] Figure 15This is a schematic diagram of another guidewire vibration unit according to an exemplary embodiment.

[0130] Reference Figure 15 As shown in some specific embodiments of this application, the guide wire vibration unit adopts a crank-single-rod sliding structure, including a second crank 1391, a third connecting rod 1392, a second sliding member 1393, a second guide member 1394, and a sixth driving device. One side of the shaft of the second crank 1391 is connected to the drive shaft of the sixth driving device, and the other side of the shaft of the second crank 1391 is connected to one end of the third connecting rod 1392 through a rotating shaft. The other end of the third connecting rod 1392 is connected to the second sliding member 1393 through a rotating shaft. The moving part 1393 is connected to the second guide 1394 via a slide rail. The second sliding part 1393 is also connected to the wire guide clamping unit 111. The second sliding part 1393 slides back and forth within the second guide 1394. When the sixth drive device drives the second crank 1391 to rotate, the second crank 1391 drives the third connecting rod 1392 to rotate. The third connecting rod 1392 drives the second sliding part 1393 to perform reciprocating linear motion within the second guide 1394, thereby driving the wire guide clamping unit 111 to perform reciprocating linear impact motion.

[0131] In the embodiments described above, the crank-single-rod sliding structure enables the guide wire 112 to achieve low-speed and smooth propulsion during its working stroke, ensuring full release of impact force and precise trajectory control, effectively reducing the risk of jamming and localized damage. The rapid return stroke significantly reduces idle time, substantially improving work cycle efficiency and system response speed. The mechanism's transmission chain is simple, with continuous motion and no rigid impact, achieving rhythmic pulse operation without complex electrical control, greatly reducing mechanical wear and energy consumption. The overall structure is compact and reliable, combining excellent force control accuracy, operational stability, and low maintenance costs, making it particularly suitable for precision guide wire operation scenarios requiring alternating directional slow advance and rapid reset.

[0132] Figure 16 This is a schematic diagram of another guidewire vibration unit according to an exemplary embodiment.

[0133] Reference Figure 16As shown, in some specific embodiments of this application, the guide wire vibration unit adopts a second housing structure, including a front cover, a second central gear 1362, a second drive gear 1361, and a rear cover. The front cover and the rear cover are connected. The second drive gear 1361 is fixed between the front cover and the rear cover via a second rotary motion drive shaft. The second central gear 1362 is meshed with the second drive gear 1361. A magnetic rod 1363 is provided on the second central gear 1362. Magnetic rods 1363 are respectively provided on the front cover and the rear cover. The two ends of the magnetic rod 1363 are N pole and S pole, respectively. The guide wire passes through the center position of the second central gear 1362. The second central gear 1362 is connected to the guide wire clamping unit.

[0134] Specifically, one end of each magnetic rod 1363 can be set as the N pole or the S pole. When one end of the magnetic rod 1363 is set as the N pole, the other end of the magnetic rod 1363 is the S pole; when one end of the magnetic rod 1363 is set as the S pole, the other end of the magnetic rod 1363 is the N pole.

[0135] A through hole or groove is provided at the center of the magnetic rod 1363. The through hole or groove on the magnetic rod 1363 coincides with the through hole or groove on the second central gear 1362. The guide wire passes through the through hole or groove on the magnetic rod 1363 and through the through hole or groove on the second central gear 1362. The magnetic rod 1363 on the front cover and rear cover of the housing is also provided with a through hole or groove for passing through and fixing the guide wire.

[0136] The distance between the inner walls of the front cover and the rear cover of the housing is set to H. The gear thickness D1 of the second central gear 1362 is less than the gear thickness D2 of the second drive gear 1361. The second drive gear 1361 only produces axial rotational motion and does not produce radial forward and backward motion.

[0137] Its working principle is as follows: In the initial position, the polarity of one end of the magnetic rod 1363 on the second central gear 1362 is opposite to that of one end of the magnetic rod 1363 on the front cover of the housing, and the polarity of one end of the magnetic rod 1363 on the second central gear 1362 is the same as that of one end of the magnetic rod 1363 on the rear cover of the housing. The second central gear 1362 is attracted to the front cover of the housing. When the second drive gear 1361 rotates, driving the second central gear 1362 to rotate, the polarity of the other end of the magnetic rod 1363 on the second central gear 1362 becomes the same as or different from that of one end of the magnetic rod 1363 on the front cover of the housing. The polarity of one end of the magnetic rod 1363 on the second central gear 1362 is opposite to that of one end of the magnetic rod 1363 on the front cover of the housing, causing them to repel or attract each other. The polarity of the other end of the magnetic rod 1363 on the second central gear 1362 is opposite to that of one end of the magnetic rod 1363 on the rear cover of the housing, or the polarity of the other end of the magnetic rod 1363 on the second central gear 1362 is the same as that of one end of the magnetic rod 1363 on the rear cover of the housing, causing them to attract or repel each other. The second central gear 1362 moves radially back and forth, driving the guide wire clamping unit to perform reciprocating linear impact motion.

[0138] Specifically, in the initial position, the polarity of one end of the magnetic rod 1363 on the second central gear 1362 is opposite to the polarity of one end of the magnetic rod 1363 on the front cover of the housing, and the polarity of one end of the magnetic rod 1363 on the second central gear 1362 is the same as the polarity of one end of the magnetic rod 1363 on the rear cover of the housing, and the second central gear 1362 is attracted to the front cover of the housing.

[0139] For example, in the initial position, one end of the magnetic rod 1363 on the second central gear 1362 is the N pole, one end of the magnetic rod 1363 on the front cover of the housing is the S pole, the other end of the magnetic rod 1363 on the second central gear 1362 is the S pole, and one end of the magnetic rod 1363 on the rear cover of the housing is the N pole.

[0140] When the second drive gear 1361 rotates, driving the second central gear 1362 to rotate, and the magnetic rod 1363 rotates 180° counterclockwise or clockwise, the polarity of the other end of the magnetic rod 1363 on the second central gear 1362 is the same as the polarity of one end of the magnetic rod 1363 on the front cover of the housing. The other end of the magnetic rod 1363 on the second central gear 1362 repels the front cover of the housing. The polarity of the other end of the magnetic rod 1363 on the second central gear 1362 is opposite to the polarity of one end of the magnetic rod 1363 on the rear cover of the housing. The other end of the magnetic rod 1363 on the second central gear 1362 attracts the rear cover of the housing, and the second central gear 1362 moves backward.

[0141] Following the example above, when the second drive gear 1361 rotates and continues to drive the second central gear 1362 to rotate, the magnetic rod 1363 rotates 180° counterclockwise or clockwise. The polarity of one end of the magnetic rod 1363 on the second central gear 1362 is opposite to the polarity of one end of the magnetic rod 1363 on the front cover of the housing. One end of the magnetic rod 1363 on the second central gear 1362 attracts the front cover of the housing. The polarity of the other end of the magnetic rod 1363 on the second central gear 1362 is the same as the polarity of one end of the magnetic rod 1363 on the rear cover of the housing. The other end of the magnetic rod 1363 on the second central gear 1362 repels the rear cover of the housing. The second central gear 1362 moves forward.

[0142] Under the limiting effect of the second identical structure, the second central gear 1362 meshes with the second drive gear 1361 in the second housing structure and moves radially back and forth. The movement amplitude is equal to D1-D2 or H-D2, which drives the guide wire clamping unit to perform reciprocating linear impact motion, thereby driving the guide wire to perform reciprocating linear impact motion.

[0143] In another embodiment, the guide wire vibration unit adopts a second housing structure, including a front cover, a second central gear 1362, a second drive gear 1361, and a rear cover. The front cover and the rear cover are connected. The second drive gear 1361 is fixed between the front cover and the rear cover via a second rotary motion drive shaft. The second central gear 1362 meshes with the second drive gear 1361. N sets of concentrically arranged magnetic induction coils are uniformly arranged on the second central gear 1362, with adjacent magnetic induction coils having opposite polarities. N sets of concentrically arranged magnetic induction coils are respectively arranged on the front cover and the rear cover, with adjacent magnetic induction coils having opposite polarities. The guide wire passes through the center of the second central gear 1362, and the second central gear 1362 is connected to the guide wire clamping unit.

[0144] Specifically, the distance between the inner walls of the front cover and the rear cover of the housing is set to H; the second drive gear 1361 only generates axial rotational motion and does not generate radial forward and backward motion; the gear thickness D1 of the second center gear 1362 is less than the gear thickness D2 of the second drive gear 1361.

[0145] The working principle of the guide wire vibration unit with the second housing structure is as follows: In the initial position, the polarity of the magnetic induction coil on the second central gear 1362 is opposite to that of the magnetic induction coil on the front cover of the housing, and the polarity of the magnetic induction coil on the second central gear 1362 is the same as that of the magnetic induction coil on the rear cover of the housing. The second central gear 1362 is attracted to the front cover of the housing. When the second drive gear 1361 rotates and drives the second central gear 1362 to rotate, the magnetic induction coil on the second central gear 1362 and the magnetic induction coil on the front cover of the housing have the same or opposite magnetic properties, and they repel or attract each other. The magnetic induction coil on the second central gear 1362 and the magnetic induction coil on the rear cover of the housing have opposite or the same magnetic properties, and they attract or repel each other. The second central gear 1362 moves radially back and forth, driving the guide wire clamping unit to perform reciprocating linear impact motion.

[0146] Specifically, when the magnetic induction coil on the second central gear 1362 has the same magnetism as the magnetic induction coil on the front cover of the housing, the second central gear 1362 and the front cover of the housing repel each other. When the magnetic induction coil on the second central gear 1362 has the opposite magnetism to the magnetic induction coil on the rear cover of the housing, the second central gear 1362 and the rear cover of the housing attract each other, and the second central gear 1362 moves backward. When the magnetic induction coil on the second central gear 1362 has the opposite magnetism to the magnetic induction coil on the front cover of the housing, the second central gear 1362 and the front cover of the housing attract each other. When the magnetic induction coil on the second central gear 1362 has the same magnetism as the magnetic induction coil on the rear cover of the housing, the second central gear 1362 and the rear cover of the housing repel each other, and the second central gear 1362 moves forward.

[0147] Under the limiting action of the second housing structure, the second central gear 1362 meshes with the second drive gear 1361 and moves axially. The movement amplitude of the second central gear 1362 is D1-D2 or H-D2. The second central gear 1362 drives the guide wire clamping unit to perform reciprocating linear impact motion, and then drives the guide wire to perform reciprocating linear impact motion.

[0148] In another embodiment, the guide wire vibration unit adopts a second housing structure, including a front cover, a second central gear 1362, a second drive gear 1361, and a rear cover. The front cover and the rear cover are connected. The second drive gear 1361 is fixed between the front and rear covers via a second rotary motion drive shaft. The second central gear 1362 meshes with the second drive gear 1361. A magnetic ring is provided on the second central gear 1362, with its center concentric with the center of the second central gear 1362. The magnetic ring has a groove that coincides with the groove on the second central gear 1362. N sets of magnetic poles are evenly distributed on the magnetic ring, with adjacent magnetic poles having opposite magnetic properties. Magnetic rings are also provided on the front and rear covers of the housing, each with N sets of magnetic poles evenly distributed and adjacent magnetic poles having opposite magnetic properties. The center or groove of the magnetic ring coincides with the center or groove of the magnetic poles on the front and rear covers of the housing. The magnetic ring has through holes or grooves for the guide wire to pass through.

[0149] Its working principle is as follows: In the initial position, the polarity of the magnetic ring on the second central gear 1362 is opposite to that of the magnetic ring on the front cover of the housing, while the polarity is the same as that of the magnetic ring on the rear cover of the housing. The central gear is attracted to the front cover of the housing. When the second drive gear 1361 rotates, driving the second central gear 1362 to rotate, the magnetic rings on the second central gear 1362 have the same or opposite magnetic properties as the magnetic rings on the front cover of the housing, repelling or attracting each other. They also have the same or opposite magnetic properties as the magnetic rings on the rear cover of the housing, attracting or repelling each other. Due to the limiting effect of the second housing structure, the second central gear 1362, while meshing with the second drive gear 1361 within the second housing structure, performs radial movement back and forth, with a movement amplitude equal to D1-D2 or H-D2. This drives the guide wire clamping unit to perform reciprocating linear impact motion, thereby driving the guide wire to perform reciprocating linear impact motion.

[0150] In the above embodiments of this application, the periodic magnetic attraction and repulsion force generated by the alternating magnetic field, combined with gear meshing and axial limiting of the housing, directly converts the continuous rotation of the second rotary motion drive shaft into the precise axial reciprocating motion of the second central gear 1362. Its transmission chain is short and compact, effectively eliminating mechanical transmission gaps and wear, and it operates smoothly, responds quickly and has low noise. The diversified magnetic circuit layout of the magnetic rod, coil and magnetic ring takes into account the manufacturing flexibility and the performance adaptation requirements of different working conditions, realizing high-frequency, stable and controllable reciprocating linear impact drive of the guidewire, which significantly improves the passage efficiency, control accuracy and surgical safety of the interventional guidewire in complex stenotic blood vessels.

[0151] Figure 17 This is a schematic diagram of the structure of a support module according to an exemplary embodiment.

[0152] Reference Figure 17As shown in some specific embodiments of this application, the support module 14 includes multiple sets of lead screw slides, a support body, and a robotic arm. The multiple sets of lead screw slides are disposed inside the support body, which is connected to the DSA operating table via the robotic arm. The multiple sets of lead screw slides are arranged parallel to each other. The robotic arm includes a robotic arm base, a vertical arm, and a horizontal arm. The robotic arm base and the vertical arm are connected via a joint structure. The vertical arm can be rotated to adjust its direction and can also be stretched to adjust its height. The horizontal arm is connected to the vertical arm via a joint structure, and the length of the horizontal arm can be stretched to adjust its length.

[0153] The multi-stage screw slide includes a first stage, a second stage, a third stage, and a fourth stage. The first stage is used to fix the Y-valve used in interventional surgery and control its linear movement along the stent body. The second stage is used to fix the catheter module 12 and control its linear movement along the stent body. The third stage is used to fix the motion module 13 and control its linear movement along the stent body. The fourth stage is located at the bottom of the stent body and is connected to one end of the horizontal arm. The fourth stage controls the simultaneous linear movement of the Y-valve, catheter module 12, and motion module 13.

[0154] Specifically, the support module 14 also includes multiple support devices 141. The Y valve is fixed to the first set of lead screw slides through the support devices 141, the conduit module 12 is fixed to the second set of lead screw slides through the support devices 141, and the motion module 13 is fixed to the third set of lead screw slides through the support devices 141.

[0155] Each set of lead screw slides is equipped with a manual or electric knob at one end, which controls the lead screw slide to move forward or backward by rotating the manual or electric knob.

[0156] Figure 18 This is a schematic diagram of a lead screw clutch structure according to an exemplary embodiment. Figure 19 This is a schematic diagram of a lead screw clutch structure according to an exemplary embodiment.

[0157] Reference Figure 18 and Figure 19As shown in some specific embodiments of this application, the third and fourth sets of lead screw slides are used to quickly adjust the surgical position of each module during surgery. The third and fourth sets of lead screw slides are equipped with a lead screw clutch structure 142, which is located inside the support body. The lead screw clutch structure 142 includes a crankshaft 1421, a semi-engaged toothed slider 1422, a semi-engaged toothed slider 1423, and a second lead screw 1424. The semi-engaged toothed slider 1422 is provided with a through-hole 1425, and the lower half of the inner wall of the through-hole 1425 is provided with... The upper half of the threaded lead screw hole 1425 has a smooth inner wall. The lead screw passes through the lead screw hole 1425. The crankshaft 1421 is located above the semi-meshing tooth slider 1422. One end of the semi-meshing tooth slider 1423 is connected to the bottom of the semi-meshing tooth slider 1422, and the other end of the semi-meshing tooth slider 1423 is connected to the bottom inner wall of the support body. Under the elastic action of the semi-meshing tooth slider 1423, the second lead screw 1424 contacts the lower half of the threaded lead screw hole 1425. The linear motion of the lead screw slide is controlled by rotating the second lead screw 1424.

[0158] Specifically, when the crankshaft 1421 is pressed, the slide table disengages from the lead screw, and the slide table can be quickly dragged to the target surgical position. When the crankshaft 1421 is released, the slide table re-engages with the lead screw, and the surgical position of the module can be adjusted with sub-millimeter precision by operating the manual or electric knob.

[0159] By operating the manual or electric knobs at both ends of the lead screw, the lead screw is rotated, and the semi-engaged tooth slider 1423 moves back and forth on the lead screw, pushing the crankshaft 1421. The protruding part of the crankshaft 1421 contacts the semi-engaged tooth slider 1423, pressing the semi-engaged tooth slider 1423 to move downward. The thread of the lead screw hole disengages from the lead screw, and the smooth surface of the lead screw hole contacts the lead screw. Pulling the crankshaft 1421 left and right enables the slide to be quickly dragged to the target surgical position.

[0160] In the above embodiments of this application, four sets of lead screw slides are used to achieve independent and precise feeding and one-click synchronous linkage of the Y valve, catheter module 12 and motion module 13, flexibly meeting the complex interventional needs of multi-axis collaboration; the lead screw clutch structure 142 built into the third and fourth sets of lead screw slides adopts the self-resetting cooperation of segmented thread / smooth hole and semi-meshing tooth slider 1423 to achieve rapid switching of transmission state, elimination of backlash and overload protection, with a compact structure and reliable response; the overall layout effectively simplifies the transmission path, avoids interference of multi-module motion, and significantly improves the flexibility of system operation, positioning accuracy and the operation efficiency and safety of complex vascular surgery.

[0161] This application provides a vascular interventional guidewire catheter system 1. The catheter module 12 is placed at the front end of the guidewire movement module 13. The tail end of the guidewire 112 is inserted from the front end of the catheter module 12, exits from the tail end of the catheter module 12, and enters the guidewire movement module 13. Then, the tail end of the guidewire 112 is inserted from the front end of the guidewire rotation movement unit 131 and exits from the rear end of the guidewire rotation movement unit 131. It passes through the guidewire channel on the guidewire vibration unit 133, and then enters from the head end of the guidewire holder and exits from the tail knob 1113. Rotating the tail knob 1113 locks the guidewire, and the surgery can begin. During the surgery, the guidewire is advanced or retracted in the blood vessel by controlling the rotation drive shaft 132. The guidewire head end is rotated to change the direction of the guidewire by controlling the guidewire rotation movement unit. The guidewire 112 is reciprocated linear impact motion by controlling the guidewire vibration unit 133. Alternatively, the linear motion, rotational motion, and reciprocating linear impact motion of the guidewire can be combined according to the conditions inside the blood vessel to perform the surgery.

[0162] The preferred features in the above embodiments can be used individually in any embodiment, or in any combination thereof, provided they do not conflict with each other. Furthermore, parts not described in detail in the embodiments can be implemented using existing technologies.

[0163] The specific embodiments of this application have been described above. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. A vascular interventional guidewire and catheter system, characterized in that, include: Guidewire module, catheter module, motion module, and stent module; The guidewire module includes a retractable guidewire clamping unit and a guidewire, wherein the guidewire clamping unit clamps the guidewire. The catheter module is disposed at one end of the guidewire module to support the guidewire, and the guidewire passes through the catheter module; The motion module includes a guidewire rotation motion unit, a guidewire linear motion unit, and a guidewire vibration unit. The motion module is disposed at the other end of the guidewire module and connected to the guidewire module. The guidewire rotation motion unit is used to control the guidewire to rotate, the guidewire linear motion unit is used to control the guidewire to move linearly, and the guidewire vibration unit is used to control the guidewire to perform reciprocating linear impact motion. The stent module is used to support and control the movement of the guidewire module, the catheter module, and the motion module to the target surgical position.

2. The vascular interventional guidewire and catheter system according to claim 1, characterized in that, The guide wire clamping unit includes a first magnetic induction component, a second magnetic induction component, a guide wire clamp, a telescopic rod, and a tail knob. The first magnetic induction component is disposed at one end of the guide wire clamp, the second magnetic induction component is disposed at the other end of the guide wire clamp, and the other end of the guide wire clamp is connected to one end of the telescopic rod. The other end of the telescopic rod is magnetically coupled to the tail knob. The first magnetic induction component includes a first magnetic induction coil and a transmitting module, wherein the first magnetic induction coil is connected to the transmitting module; the second magnetic induction component includes a second magnetic induction coil and a receiving module, wherein the second magnetic induction coil is connected to the receiving module. The guide wire holder includes a conical head, a multi-lobed metal claw, and a connecting rod. The conical head is threaded to one end of the connecting rod. The multi-lobed metal claw is disposed between the conical head and the connecting rod. The other end of the connecting rod is connected to one end of the telescopic rod. The tail knob is used to control the connecting rod to squeeze the multi-lobed metal claw to lock the guide wire by rotating clockwise, and to control the connecting rod to squeeze the multi-lobed metal claw to unlock the guide wire by rotating counterclockwise. The telescopic rod includes multiple telescopic tubes connected end to end. The first telescopic tube is connected to the other end of the connecting rod, and the last telescopic tube is fixedly connected to the tail knob. The tail knob is connected to the side wall of the housing of the vascular interventional guidewire catheter system through a magnetic coupling structure.

3. The vascular interventional guidewire and catheter system according to claim 2, characterized in that, The guide wire rotation motion unit adopts a box structure, including a gear set structure. The gear set structure includes a central gear, a drive gear, and a rotation motion drive shaft. The central gear is meshed with the drive gear. A first through hole is provided at the center of the central gear for the guide wire to pass through. A second through hole is provided at the center of the drive gear. The rotation motion drive shaft passes through the second through hole to drive the drive gear to rotate, and in turn, drives the central gear to rotate. The vascular interventional guidewire catheter system also includes a module support and fixation component. The module support and fixation component is disposed on one side of the central gear and connected to a non-central position of the central gear. The module support and fixation component is used to fix the guidewire vibration unit. The guidewire vibration unit is connected to the guidewire clamping unit. When the guidewire rotation motion unit is driven by the driving device, the guidewire clamping unit is coaxially connected to the central gear. When the central gear is driven to rotate by the driving gear, the guidewire vibration unit and the guidewire clamping unit on the module support and fixation component connected to the central gear also rotate accordingly, thereby driving the guidewire to rotate. The guide wire linear motion unit includes a first lead screw and a first slider. The first lead screw passes through the first slider and passes through the housing structure of the guide wire rotary motion unit. The first slider is connected to the housing structure of the guide wire rotary motion unit. When the first slider slides on the first lead screw, it drives the housing structure to move linearly along the first lead screw, thereby driving the guide wire in the housing structure to move linearly.

4. The vascular interventional guidewire and catheter system according to claim 3, characterized in that, The guide wire vibration unit includes a slide rail, a second slider, a central gear guide post, a cylindrical roller fixing shaft, a cylindrical roller, and a first driving device. The slide rail is mounted on the module support fixing member, the second slider is mounted on the slide rail, and the second slider moves linearly along the slide rail. The central gear guide post passes through the second slider and is connected to the central gear. The second slider is used to axially guide and radially fix the central gear. The cylindrical roller fixing shaft is located on one side of the central gear and is connected to a non-central position of the central gear. One end of the cylindrical roller is connected to the cylindrical roller fixing shaft, and the cylindrical roller moves linearly along the slide rail. The cylindrical roller is fixed on a rotating shaft. The other end of the cylindrical roller is connected to the first driving device. A spatial curved groove is provided on the side of the cylindrical roller. The spatial curved groove is distributed in a sinusoidal curve on the side of the cylindrical roller. A sliding rod is provided on the second slider. A sliding follower is provided at the top of the sliding rod. The sliding follower is embedded in the spatial curved groove. When the cylindrical roller rotates, the sliding follower reciprocates along the spatial curved groove, driving the second slider to reciprocate on the slide rail, and driving the guide wire clamping unit connected to the second slider to reciprocate, thereby controlling the guide wire to perform reciprocating linear impact motion.

5. The vascular interventional guidewire and catheter system according to claim 3, characterized in that, The guide wire vibration unit adopts a Scottish yoke structure, including an eccentric disk, a pin, a yoke, a first guide rail, and a second drive device. The yoke includes a groove and an output shaft. The pin is located on the edge of the eccentric disk, and the axis of the eccentric disk is connected to the drive shaft of the second drive device. The pin is embedded in the groove of the yoke. The eccentric disk, the pin, and the yoke are located inside the first guide rail. The output shaft of the yoke passes through the first guide rail, and the guide wire clamping unit is connected to the output shaft. When the second drive device drives the eccentric disk to rotate, the pin reciprocates in the groove of the yoke, causing the yoke to reciprocate in the first guide rail, thereby causing the output shaft and the guide wire clamping unit to reciprocate, controlling the guide wire to perform reciprocating linear impact motion.

6. The vascular interventional guidewire and catheter system according to claim 3, characterized in that, The guide wire vibration unit adopts an intermittent cam structure, including a rotating component, a step, a first elastic component, and a third driving device. The rotating component is provided with multiple blades and is connected to the third driving device. One end of the step abuts against one blade of the rotating component, and the other end of the step is connected to one end of the first elastic component. The other end of the first elastic component is connected to the module support and fixing component. The step is also connected to the guide wire clamping unit. When the third driving device drives the rotating component to rotate, it pushes the step to compress or expand the first elastic component, and the guide wire clamping unit performs reciprocating motion, thereby controlling the guide wire to perform reciprocating linear impact motion.

7. The vascular interventional guidewire and catheter system according to claim 3, characterized in that, The guide wire vibration unit adopts a grooved wheel structure, including a driving wheel, a driven grooved wheel, a pin, and a fourth driving device. The axis of the driving wheel is connected to the drive shaft of the fourth driving device. The driven grooved wheel has multiple radial grooves at preset intervals. The driven grooved wheel is equipped with a gear and rack structure, which includes a rack and a gear. The rack and the gear are meshed and connected. The rack is connected to the guide wire clamping unit, and the gear is connected to the driven grooved wheel. The fourth driving device drives the driving wheel to rotate. The pin enters the radial groove of the driven grooved wheel, and the vibration occurs through the contact between the pin and the groove wall. When the pin is touched, it causes the driven grooved wheel to rotate through a preset angle. The fourth driving device drives the driving wheel to continue rotating, and the pin rotates out of the slot of the radial groove. The rotation of the driven grooved wheel stops synchronously. After the pin leaves the driven grooved wheel, the locking arc on the driving wheel abuts against the convex arc on the driven grooved wheel, locking the driven grooved wheel in the current position. The driving wheel continues to rotate idling until the pin enters the slot of the next radial groove again, starting the next round of driving. The driven grooved wheel drives the rack to move back and forth through rotation. The rack drives the guide wire clamping unit to perform reciprocating linear impact motion.

8. The vascular interventional guidewire and catheter system according to claim 3, characterized in that, The guide wire vibration unit adopts a crank-double rod sliding structure, including a first crank, a first connecting rod, a second connecting rod, a first sliding member, a first guide member, and a fifth driving device. One side of the shaft of the first crank is connected to the drive shaft of the fifth driving device, and the other side of the shaft of the first crank is connected to one end of the first connecting rod through a rotating shaft. The other end of the first connecting rod is connected to one end of the second connecting rod through a rotating shaft, and the other end of the second connecting rod is connected to the first sliding member through a rotating shaft. The first sliding member is connected to the first guide member through a slide rail and is also connected to the guide wire clamping unit. The first sliding member slides back and forth within the first guide member. When the fifth driving device drives the first crank to rotate, the first crank drives the first connecting rod to rotate, the first connecting rod drives the second connecting rod to rotate, and the second connecting rod drives the first sliding member to perform reciprocating linear motion within the first guide member, thereby driving the guide wire clamping unit to perform reciprocating linear impact motion.

9. The vascular interventional guidewire and catheter system according to claim 3, characterized in that, The guide wire vibration unit adopts a crank-single-rod sliding structure, including a second crank, a third connecting rod, a second sliding member, a second guide member, and a sixth driving device. One side of the axis of the second crank is connected to the drive shaft of the sixth driving device, and the other side of the axis of the second crank is connected to one end of the third connecting rod through a rotating shaft. The other end of the third connecting rod is connected to the second sliding member through a rotating shaft. The second sliding member is connected to the second guide member through a slide rail. The second sliding member is also connected to the guide wire clamping unit. The second sliding member slides back and forth within the second guide member. When the sixth driving device drives the second crank to rotate, the second crank drives the third connecting rod to rotate. The third connecting rod drives the second sliding member to perform reciprocating linear motion within the second guide member, thereby driving the guide wire clamping unit to perform reciprocating linear impact motion.

10. The vascular interventional guidewire and catheter system according to claim 3, characterized in that, The guide wire vibration unit adopts a second housing structure, including a front cover, a second central gear, a second drive gear, and a rear cover. The front cover is connected to the rear cover. The second drive gear is fixed between the front cover and the rear cover via a second rotary motion drive shaft. The second central gear meshes with the second drive gear. A magnetic rod is provided on the second central gear. Magnetic rods are also provided on the front and rear covers, with the two ends of the magnetic rods being N and S poles, respectively. The guide wire passes through the center of the second central gear, which is connected to the guide wire clamping unit. In the initial position, the polarity of one end of the magnetic rod on the second central gear is opposite to that of one end of the magnetic rod on the front cover of the housing, and the polarity of one end of the magnetic rod on the second central gear is the same as that of one end of the magnetic rod on the rear cover of the housing. The second central gear is attracted to the front cover of the housing. When the second drive gear rotates, causing the second central gear to rotate, the polarity of the other end of the magnetic rod on the second central gear is either the same as or opposite to that of one end of the magnetic rod on the front cover of the housing, resulting in mutual repulsion or attraction. The polarity of the other end of the magnetic rod on the second central gear is either opposite to or the same as that of one end of the magnetic rod on the rear cover of the housing, resulting in mutual attraction or repulsion. The second central gear moves radially back and forth, driving the guide wire clamping unit to perform reciprocating linear impact motion.

11. The vascular interventional guidewire and catheter system according to claim 1, characterized in that, The support module includes multiple sets of lead screw slides, a support body, and a robotic arm. The multiple sets of lead screw slides are disposed inside the support body. The support body is connected to the DSA operating table via the robotic arm. The multiple sets of lead screw slides are arranged parallel to each other. The robotic arm includes a robotic arm base, a vertical arm, and a horizontal arm. The robotic arm base is connected to the vertical arm via a joint structure. The vertical arm adjusts its direction by rotation and its height by extension. The horizontal arm is connected to the vertical arm via a joint structure and its length is adjusted by extension. The multiple sets of lead screw slides include a first set of lead screw slides, a second set of lead screw slides, a third set of lead screw slides, and a fourth set of lead screw slides. The first set of lead screw slides is used to fix the Y valve used in interventional surgery and control the Y valve to move linearly along the stent body. The second set of lead screw slides is used to fix the catheter module and control the catheter module to move linearly along the stent body. The third set of lead screw slides is used to fix the motion module and control the motion module to move linearly along the stent body. The fourth set of lead screw slides is located at the bottom of the stent body and is connected to one end of the horizontal arm. The fourth set of lead screw slides is used to control the Y valve, the catheter module, and the motion module to move linearly simultaneously. The third and fourth sets of lead screw slides are equipped with lead screw clutch structures, which are located inside the support body. Each lead screw clutch structure includes a crankshaft, a semi-engaged toothed slider, a second elastic component, and a second lead screw. The semi-engaged toothed slider has a through-hole for the lead screw. The lower half of the through-hole has a threaded inner wall, while the upper half has a smooth inner wall. The lead screw passes through the through-hole. The crankshaft is positioned above the semi-engaged toothed slider. One end of the second elastic component is connected to the bottom of the semi-engaged toothed slider, and the other end is connected to the bottom inner wall of the support body. Under the elastic action of the second elastic component, the second lead screw contacts the lower half of the through-hole. Rotating the second lead screw controls the linear movement of the lead screw slide.

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