A consumable delivery device

Abstract

The application discloses a kind of consumable conveying devices, comprising: guide wire conveying unit, guide wire is contained in guide wire coil and passes between the pair of guide wire guide wheels, with the rotation of guide wire guide wheel, guide wire is driven forward or backward to retreat;And catheter / stent conveying unit, catheter / stent is contained in catheter / stent coil and passes between the pair of catheter / stent guide wheels, with the rotation of catheter / stent guide wheel, catheter / stent is driven forward or backward to retreat;Wherein the proximal end of guide wire coil is provided with guide wire wetting section, at guide wire wetting section, the upper end side wall of guide wire coil is provided with drop opening, heparin or physiological saline is dropped through drop opening, to wet guide wire in guide wire coil.The application conveys guide wire, catheter / stent and other medical instruments by conveying device, improves the efficiency of guide wire, catheter or stent into human body, reduces the pollution in the preoperative preparation process of guide wire, catheter or stent, and then simplifies the operation of doctor.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more specifically to a consumable delivery device. Background Technology

[0002] Interventional vascular surgery, based on imaging and guided by digital subtraction angiography (DSA), uses guidewires, catheters, or stents, along with other medical devices, to diagnose and treat diseases. It is a relatively advanced minimally invasive technique. In traditional procedures, the surgeon holds a coil and extracts the guidewire, catheter, or stent. Because these devices are typically about 1.5 meters long and sterile, the extraction process is cumbersome and prone to contamination. Furthermore, after extraction, the guidewire, catheter, or stent must be moistened in a heparin solution before being reinserted into the blood vessel. The entire pre-operative preparation process is quite complex.

[0003] Improving the efficiency of guidewire, catheter, or stent insertion into the human body, reducing contamination during preoperative preparation, and thus simplifying the doctor's operation are urgent problems that need to be solved in this field. Summary of the Invention

[0004] The purpose of this invention is to provide a consumable delivery device, particularly a consumable delivery device for vascular interventional navigation systems. This invention delivers medical devices such as guidewires, catheters / stents through the delivery device, improving the efficiency of guidewire, catheter, or stent insertion into the human body, reducing contamination during preoperative preparation of guidewires, catheters, or stents, and thus simplifying the doctor's operation.

[0005] This invention provides a consumables delivery device, the device comprising:

[0006] A guidewire delivery unit is used to deliver a guidewire to the terminal execution system of a vascular interventional navigation system. The guidewire delivery unit includes a guidewire coil and a guidewire guide wheel assembly. The guidewire coil is used to hold the guidewire. The front section of the guidewire coil is a straight tubular structure, and the middle and rear sections are generally U-shaped or concentric tubular structures. The guidewire coil has a first open section. The guidewire guide wheel assembly is located at the first open section and includes a pair of guidewire guide wheels. In use, the guidewire is housed in the guidewire coil and passes between the pair of guidewire guide wheels. The pair of guidewire guide wheels clamp the guidewire, and as the guidewire guide wheels rotate, they drive the guidewire forward or backward.

[0007] A catheter / stent delivery unit is provided for delivering a catheter / stent to the terminal execution system of the vascular interventional navigation system. The catheter / stent delivery unit includes a catheter / stent coil and a catheter / stent guide wheel assembly. The catheter / stent coil is used to accommodate the catheter / stent; the front section of the catheter / stent coil is a straight tubular structure, and the middle and rear sections are generally U-shaped or concentric tubular structures. The catheter / stent coil has a second opening section. The guide wheel assembly is located at the second opening section and includes a pair of guide wheels. In use, the catheter / stent is accommodated in the catheter / stent coil and passes between the pair of guide wheels. The pair of guide wheels clamps the catheter / stent, and as the guide wheels rotate, they drive the catheter / stent forward or backward.

[0008] The guidewire coil has a guidewire wetting section at its proximal end. At the guidewire wetting section, the upper sidewall of the guidewire coil has a drip opening, through which heparin or saline is dripped to wet the guidewire in the guidewire coil.

[0009] It should be noted that the front end / proximal end refers to the end closer to the terminal execution system, and the tail end / remote end refers to the end farther away from the terminal execution system.

[0010] In another preferred embodiment, the guide wire coil is a multi-connected U-shape and / or a concentric winding shape.

[0011] In another preferred embodiment, the catheter / stent coil is a multi-unit U-shape and / or a concentric coil shape.

[0012] In another preferred embodiment, the guide wire coil has a bending radius of 1-5 cm and a length of 180-300 cm.

[0013] In another preferred embodiment, the bending radius of the catheter / stent coil is 1-5 cm and the length is 180-300 cm.

[0014] In another preferred embodiment, at the wetted section of the guidewire, the guidewire coil bends downward to form a depression structure for storing the dripped heparin or saline solution.

[0015] In another preferred embodiment, the guide wire coil is bent downward to a depth of 0.5-2 cm and a length of 1-10 cm; the curvature of the bend is 0.14-0.8.

[0016] In another preferred embodiment, the guidewire delivery unit includes a guidewire introducer, which is a hollow tube segment that is narrow at the proximal end and wide at the distal end. The wide end of the guidewire introducer is connected to the proximal end of the guidewire coil. The guidewire, housed in the guidewire coil, enters from the wide end of the guidewire introducer and extends from the narrow end of the guidewire introducer into the guiding tube on the terminal execution system of the vascular interventional navigation system.

[0017] In another preferred embodiment, the distal end of the guidewire introducer has a trumpet-shaped structure, and the proximal end has a tubular structure.

[0018] In another preferred embodiment, the wide end of the guidewire introducer is fixedly connected to the proximal end of the guidewire coil as a single unit.

[0019] In another preferred embodiment, the guidewire inlet is slidably disposed in the front section of the guidewire coil.

[0020] In another preferred embodiment, the guidewire introducer can be housed in the cavity of the guidewire coil; the front sidewall of the guidewire coil is provided with an upward-facing groove that opens along the axial direction of the guidewire coil, and correspondingly, a tail fin extends from the wide end of the guidewire introducer through the opening groove and out of the guidewire coil, wherein the tail fin can slide axially in the opening groove, so that the guidewire introducer extends out of the guidewire coil or retracts into the guidewire coil.

[0021] In another preferred embodiment, after the guidewire introducer extends out of the guidewire coil, it can be mounted on the terminal execution system of the vascular interventional navigation system. The guidewire in the guidewire coil is transported along the guidewire introducer to the guiding tube connected to the terminal execution system of the vascular interventional navigation system, and the guidewire is transported along the guiding tube to the target position.

[0022] In another preferred embodiment, the tail fin is a sheet-like structure.

[0023] In another preferred embodiment, the sidewall of the opening slot is provided with a stop at or near the opening, the stop being used to prevent the tail fin from sliding out of the opening slot.

[0024] In another preferred embodiment, the stop is an elastic stop.

[0025] In another preferred embodiment, the guidewire introducer is a round tube made of metal or polymer material.

[0026] In another preferred embodiment, the inner diameter of the guidewire introducer is 0.35-1 mm.

[0027] In another preferred embodiment, the device further includes an anastomosis device, which is a funnel-shaped tube segment that is narrow in the middle and wide at both ends, and is connected to the catheter / stent coil. The anastomosis device includes a proximal wide section, a middle narrow section, and a distal wide section. The distal wide section is connected to the proximal opening of the catheter / stent coil. In use, the tail end of the guidewire is inserted into the proximal wide section, passes through the middle narrow section and the distal wide section, and is then inserted into the lumen of the catheter / stent. The catheter / stent is delivered to the target location by the guidance of the guidewire.

[0028] In another preferred embodiment, the stapler is disposed at the proximal opening of the catheter / stent coil. The proximal and distal ends of the stapler are hollow tubular sections close to the outer diameter of the catheter / stent. The proximal end of the stapler is flared and gradually narrows, then gradually thickens into a tubular structure consistent with the inner diameter of the catheter / stent coil and is fixed as a single unit. In use, the tail end of the guidewire is inserted into the stapler, and aligns with the tip of the catheter / stent within the stapler and is inserted into the inner tube of the catheter / stent. The catheter / stent is then guided to the target location by the guidewire.

[0029] In another preferred embodiment, the anastomosis device is a tubular structure in the shape of a trumpet.

[0030] In another preferred embodiment, the narrow section of the stapler has an inner diameter of 0.4-3 mm.

[0031] In another preferred embodiment, the structure of the first opening section is that the guide wire coil has two first side openings, through which the guide wire contained in the guide wire coil is exposed, and the guide wire guide wheel enters the first side openings to abut against and clamp the guide wire;

[0032] The second opening section has two second side openings on the catheter / stent coil. The catheter / stent housed in the catheter / stent coil is exposed through the two second side openings. The catheter / stent guide wheel enters the second side opening and abuts against and clamps the catheter / stent.

[0033] In another preferred embodiment, the first opening segment is located at the proximal end of the guide wire coil.

[0034] In another preferred embodiment, the guide wire coil is completely disconnected at the first opening section.

[0035] In another preferred embodiment, the guide wire coil is disconnected at the first opening section, and the two sections of the guide wire coil are connected into one piece at the first opening section by a flexible material such as silicone.

[0036] In another preferred embodiment, the second opening is located at the proximal end of the catheter / stent coil.

[0037] In another preferred embodiment, the catheter / stent coil is completely disconnected at the second opening segment.

[0038] In another preferred embodiment, the catheter / stent coil is disconnected at the second opening section, and the two sections of the catheter / stent coil are connected together at the second opening section by a flexible material such as silicone.

[0039] In another preferred embodiment, the guide wire guide wheel includes a guide wire driving wheel and a guide wire driven wheel. The guide wire driving wheel is connected to a motor via a coupling. The motor drives the guide wire driving wheel to rotate, which in turn drives the guide wire driven wheel to rotate. The guide wire is conveyed through the synchronous rotation of the guide wire driving wheel and the guide wire driven wheel.

[0040] The catheter / stent guide wheel includes a catheter / stent drive wheel and a catheter / stent driven wheel. The catheter / stent drive wheel is connected to a motor via a coupling. The operation of the motor drives the catheter / stent drive wheel to rotate, which in turn drives the catheter / stent driven wheel to rotate. The catheter / stent is transported through the synchronous rotation of the catheter / stent drive wheel and the catheter / stent driven wheel.

[0041] In another preferred embodiment, the synchronous rotation of the guidewire drive wheel and the guidewire driven wheel is achieved through the close contact between the guidewire drive wheel and the guidewire driven wheel, or

[0042] Both the guide wire driving wheel and the guide wire driven wheel have gear structures, and synchronous rotation is achieved through the meshing of the gears; and

[0043] The synchronous rotation of the catheter / stent drive wheel and the catheter / stent driven wheel is achieved through the tight fit between the drive wheel and the driven wheel.

[0044] Both the driving wheel and the driven wheel of the catheter / stent have gear structures, and synchronous rotation is achieved through the meshing of the gears.

[0045] In another preferred embodiment, both the guide wire drive wheel and the guide wire driven wheel are provided with gear components and clamping components. The synchronous rotation of the guide wire drive wheel and the guide wire driven wheel is achieved by the meshing of the gear components between them, and the guide wire is conveyed by clamping the guide wire by the clamping components of the guide wire drive wheel and the guide wire driven wheel.

[0046] In another preferred embodiment, the guide wire drive wheel and the guide wire driven wheel are tightly fitted together by spring compression or belt / O-ring tension.

[0047] In another preferred embodiment, both the guide wire drive wheel and the guide wire driven wheel are coated with silicone, the elasticity of which allows the silicone to easily accommodate and clamp the guide wire.

[0048] In another preferred embodiment, both the catheter / stent drive wheel and the catheter / stent driven wheel are provided with gears and clamping components. The synchronous rotation of the catheter / stent drive wheel and the catheter / stent driven wheel is achieved by the meshing of the gears between them. The catheter / stent is transported by clamping the catheter / stent with the clamping components of the catheter / stent drive wheel and the catheter / stent driven wheel.

[0049] In another preferred embodiment, the catheter / stent drive wheel and the catheter / stent driven wheel are tightly fitted together by spring compression or belt / O-ring tension.

[0050] In another preferred embodiment, both the active wheel and the driven wheel of the catheter / stent are coated with silicone, the elasticity of which allows for easy containment and clamping of the catheter / stent.

[0051] In another preferred embodiment, the coupling is a mechanical coupling and / or a magnetic coupling.

[0052] In another preferred embodiment, the coupling is a mechanical coupling, wherein the top of the motor is equipped with a conical male coupling, and the outer periphery of the conical structure of the male coupling has a plurality of evenly spaced ridges; the bottom of the guide wire guide wheel and / or the guide tube / support guide wheel is equipped with a cylindrical female coupling, the inside of the female coupling is a conical hollow structure, and the inner sidewall of the conical hollow structure has a plurality of evenly spaced ridges; wherein, the male coupling and the female coupling are engaged by the interlocking of the ridges of the male coupling and the ridges of the female coupling.

[0053] In another preferred embodiment, the coupling is a magnetic coupling, wherein the magnetic coupling at the top of the motor attracts and locks with the magnetic coupling at the bottom of the guide wire guide wheel and / or the guide tube / support guide wheel.

[0054] In another preferred embodiment, the consumable delivery device is mounted on a support platform, which is supported by a support bracket.

[0055] In another preferred embodiment, the carrying platform includes an upper platform and a lower platform.

[0056] In another preferred embodiment, the upper platform and the lower platform are connected via a three-axis motion platform.

[0057] In another preferred embodiment, the three-axis motion platform is fixed to the upper surface of the lower platform, and the upper platform is fixed to the moving axis of the three-axis motion platform.

[0058] In another preferred embodiment, the movement of the three-axis motion platform in the X-axis, Y-axis and Z-axis directions controls the relative displacement between the upper platform and the lower platform.

[0059] In another preferred embodiment, the upper platform is 80-160 cm long and 30-60 cm wide.

[0060] In another preferred embodiment, the lower platform is fixedly connected to the supporting bracket.

[0061] In another preferred embodiment, the upper platform is provided with a free-end connection structure for fixing to the operating table on the side near the operating table; the free-end connection structure can be a mechanical connection structure or a magnetic connection structure; the free-end connection structure can be interconnected with the fixed-end connection structure fixed to the operating table.

[0062] In another preferred embodiment, when the operating table is raised or lowered or moved back and forth, the upper platform is also raised or lowered or moved back and forth together with the operating table.

[0063] In another preferred embodiment, the support bracket is slidable.

[0064] In another preferred embodiment, the bottom of the support bracket is provided with pulleys.

[0065] In another preferred embodiment, the automatic conveying device has two motion modes: a continuous motion mode and a stepping motion mode.

[0066] In another preferred embodiment, in the continuous motion mode, the guidewire and the catheter / stent move at a constant speed.

[0067] In another preferred embodiment, in the stepping motion mode, the guidewire and the catheter / stent move in a stepping manner.

[0068] In another preferred embodiment, the consumable delivery device is mounted on a support platform, which is supported by a support bracket. The support platform includes an upper platform and a lower platform. The upper platform has a guidewire delivery unit base and a catheter / stent unit base. Motors are installed in both the guidewire delivery unit base and the catheter / stent unit base, respectively driving the guidewire guide wheel assembly of the guidewire delivery unit and the catheter / stent guide wheel assembly of the catheter / stent delivery unit. The upper platform and the lower platform are connected via a three-axis motion platform. The three-axis motion platform is fixed to the upper surface of the lower platform, and the upper platform is fixed to the moving axis of the three-axis motion platform. The movement of the three-axis motion platform in the X, Y, and Z axes controls the relative displacement between the upper platform and the lower platform. The lower platform is fixedly connected to the support bracket.

[0069] In another preferred embodiment, the upper platform is provided with a free end connection structure for fixing to the operating table on the side near the operating table; the free end connection structure is a mechanical connection structure or a magnetic connection structure; the free end connection structure is interconnected with the fixed end connection structure fixed to the operating table; when the operating table is raised or lowered or moved back and forth, the vascular intervention navigation device on the upper platform is also raised or lowered or moved back and forth together with the operating table.

[0070] The main advantages of this invention include:

[0071] (a) It enables rapid delivery of guidewires and catheters / stents, reducing preoperative preparation time and the risk of guidewire and catheter / stent contamination;

[0072] (b) The use of an anastomosis device improves the accuracy and convenience of the connection and fit between the guidewire and the catheter / stent;

[0073] (c) The guidewire introducer improves the accuracy and convenience of the connection and coordination between the guidewire and the guidewire control module of the terminal execution system;

[0074] (d) The lubrication of guidewire and / or catheter / stent delivery is improved by the use of saline and heparin solution within the guidewire wetting segment, reducing the risk of coagulation of guidewire and catheter / stent in the blood vessel.

[0075] It should be understood that, within the scope of this invention, the above-described technical features of this invention and the technical features specifically described below (such as in the embodiments) can be combined with each other to form new or preferred technical solutions. Due to space limitations, they will not be described in detail here. Attached Figure Description

[0076] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0077] Figure 1 This is a perspective view of a consumable delivery device according to an embodiment of the present invention;

[0078] Figure 2 yes Figure 1 Side view;

[0079] Figure 3 yes Figure 1 Top view;

[0080] Figure 4a This is a top view of the guide wire delivery unit in one embodiment of the present invention;

[0081] Figure 4b This is a cross-sectional view of a guide wire delivery unit in an embodiment of the present invention;

[0082] Figure 5 yes Figure 4a Enlarged view of section I;

[0083] Figure 6 yes Figure 5 A three-dimensional view of the middle section;

[0084] Figure 7 This is a cross-sectional view of the guidewire wetting section in an embodiment of the present invention;

[0085] Figure 8 This is a perspective view of the first state of the guide wire introducer in an embodiment of the present invention, wherein the coupling is a mechanical coupling;

[0086] Figure 9 This is a perspective view of the second state of the guidewire introducer in an embodiment of the present invention, wherein the coupling is a magnetic coupling;

[0087] Figure 10a This is a top view of the catheter / stent delivery unit and anastomosis device in one embodiment of the present invention;

[0088] Figure 10b This is a cross-sectional view of the catheter / stent delivery unit and anastomosis device in one embodiment of the present invention;

[0089] Figure 11a This is a front view of the conical male coupling of a mechanical coupling in an embodiment of the present invention;

[0090] Figure 11b yes Figure 11a Top view;

[0091] Figure 12a This is an example of the invention. Figures 11a-11b A front view of the cylindrical female connector of a mechanical coupling that mates with the male connector;

[0092] Figure 12b yes Figure 12a A bottom view;

[0093] Figure 13 yes Figure 1 A top view of the consumable delivery device used in conjunction with the terminal execution system of the vascular interventional navigation surgery system;

[0094] Figure 14 yes Figure 10a A three-dimensional view of the anastomosis device.

[0095] The labels in each of the attached figures are as follows:

[0096] 1- Guide wire feeding unit;

[0097] 2-Catheter / Stent Delivery Unit;

[0098] 3-Guide wire coil;

[0099] 4-Guide wire guide wheel assembly;

[0100] 5-First opening segment;

[0101] 6-Catheter / Stent Coil;

[0102] 7-Custodian / Stent Guide Roller Assembly;

[0103] 8-Second opening segment;

[0104] 9- Anastomosing device;

[0105] 91 - Proximal wide segment;

[0106] 92 - Narrow section in the middle;

[0107] 93-Far-end wideband;

[0108] 10-Guidewire inlet;

[0109] 11-Opening groove;

[0110] 12-Tail fin;

[0111] 13-Stop component;

[0112] 14-Guidewire wetting section;

[0113] 15-Drip opening;

[0114] 16-Guidewire;

[0115] 17-Guide wire drive pulley;

[0116] 18-Guide wire driven pulley;

[0117] 19-Belt;

[0118] 20-Connecting male connector;

[0119] 21-Connecting female connector;

[0120] 22-Bearing platform;

[0121] 23-Support bracket;

[0122] 24 - Upper Platform;

[0123] 25 - Lower platform;

[0124] 26 - Three-axis motion platform;

[0125] 27-Free end connection structure;

[0126] 28-Pulley;

[0127] 29-Magnetic coupling;

[0128] 30 - Terminal Execution System;

[0129] 31-Guide wire delivery unit base;

[0130] 32-Cassium catheter / stent delivery unit base;

[0131] 33 - Guide wire conveying unit motor;

[0132] 34 - Catheter / Stent Delivery Unit Motor. Detailed Implementation

[0133] Through extensive and in-depth research and screening, the inventors have developed, for the first time, a consumable delivery device, specifically a consumable delivery device for vascular interventional navigation systems. This invention improves the efficiency of guidewire, catheter / stent insertion into the human body by delivering medical devices such as guidewires, catheters, or stents via the delivery device, reducing contamination during preoperative preparation and thus simplifying the physician's operation; it achieves precise stepping of guidewires and catheters / stents; and by configuring accessories such as an anastomosis device, guidewire introducer, and guidewire wetting section, it ensures accurate and convenient connection and coordination between components, and improves the smoothness of guidewire and / or catheter / stent delivery. Based on these findings, this invention was completed.

[0134] The present invention will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, the accompanying drawings are schematic diagrams, and therefore the apparatus and device of the present invention are not limited to the size or scale of the schematic diagrams.

[0135] It should be noted that in the claims and specification of this patent, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0136] Example

[0137] The consumable delivery device in this embodiment is as follows: Figure 1-14 As shown, this consumable delivery device can be used in conjunction with a vascular interventional navigation surgery system. This vascular interventional navigation surgery system can be the one disclosed in CN 113598947B, which is incorporated herein by reference in its entirety.

[0138] The vascular interventional navigation surgical system includes a remote microcomputer control terminal, a surgical positioning robotic arm, and a terminal execution system 30. The terminal execution system 30 includes a guidewire control module for controlling the forward, backward, and rotational movement of the guidewire 16. The guidewire control module includes: a rotation assembly for controlling the rotation of the guidewire 16, the rotation assembly including a rotating wheel assembly, a rotating shaft concentrically connected to the rotating wheel assembly, planetary gears mounted on the rotating shaft and slidable relative to the rotating shaft, and a sun gear meshing with the planetary gears. The sun gear has a groove extending from the valley between the teeth of the sun gear to its center, and the groove is used to embed the guidewire 16 and ensure the coaxiality of the guidewire 16's rotation; a travel assembly for controlling the forward or backward movement of the guidewire 16, the travel assembly including a travel wheel assembly, a transmission screw concentrically connected to the bevel gears of the travel wheel assembly, and a fixing plate for supporting the sun gear; and a balloon / stent control module for controlling the forward or backward movement of a balloon catheter or stent catheter. The balloon / stent control module includes a drive wheel assembly, which includes a friction wheel group. Gears below the friction wheel group mesh with each other, and the friction wheel group clamps the balloon catheter or stent catheter, moving it forward or backward. It also includes a guide tube control module for controlling the forward or backward movement of the guide tube. This module includes a Y-shaped stage assembly, which includes an upper Y-shaped valve and a lower gear and rack assembly. The distal end of the Y-shaped valve is connected to the guide tube, and the proximal end is through which the guidewire 16 passes. The guidewire 16 enters the guide tube through the Y-shaped valve and travels along the inner lumen of the guide tube to the surgical site. The gear and rack assembly drives the Y-shaped stage assembly forward or backward, thereby driving the guide tube forward or backward. The rotating wheel group, the traveling wheel group, the friction wheel group, and the Y-shaped stage assembly are all driven by a motor and connected to a remote microcomputer.

[0139] The consumable delivery device for the vascular interventional navigation surgery system in this embodiment includes a guidewire delivery unit 1, a catheter / stent delivery unit 2, and a stapler 9.

[0140] The guidewire delivery unit 1 is used to deliver the guidewire 16 to the terminal execution system 30 of the vascular interventional navigation system. The guidewire delivery unit 1 includes a guidewire coil 3 and a guidewire guide wheel assembly 4. The guidewire coil 3 accommodates the guidewire 16 and has a first opening section 5. The guidewire guide wheel assembly 4 is located at the first opening section 5 and includes a pair of guidewire guide wheels (guidewire driving wheel 17 and guidewire driven wheel 18). In use, the guidewire 16 is accommodated in the guidewire coil 3 and passes between the pair of guidewire guide wheels. The pair of guidewire guide wheels clamps the guidewire 16, and as the guidewire guide wheels rotate, they drive the guidewire 16 forward or backward. The guidewire coil 3 is a multi-unit U-shape and / or concentrically wound shape. The bending radius of the guidewire coil 3 is 1-5 cm, and its length is 180-300 cm.

[0141] The catheter / stent delivery unit 2 is used to deliver the catheter / stent to the terminal execution system 30 of the vascular interventional navigation system. The catheter / stent delivery unit 2 includes a catheter / stent coil 6 and a catheter / stent guide wheel assembly 7. The catheter / stent coil 6 accommodates the catheter / stent and has a second opening section 8. The guide wheel assembly 4 is located at the second opening section 8. The catheter / stent guide wheel assembly 7 includes a pair of guide wheels. In use, the catheter / stent is accommodated in the catheter / stent coil 6 and passes between the pair of guide wheels. The pair of guide wheels clamps the catheter / stent, and as the guide wheels rotate, they drive the catheter / stent forward or backward. The catheter / stent coil 6 is a multi-unit U-shape and / or concentrically wound shape. The bending radius of the catheter / stent coil 6 is 1-5 cm, and its length is 180-300 cm. The stapler 9 is a trumpet-shaped tube, narrow in the middle and wide at both ends, and is connected to the catheter / stent coil 6. The stapler 9 facilitates the insertion of the guidewire 16 into the lumen of the catheter / stent. It includes a proximal wide section 91, a middle narrow section 92, and a distal wide section 93. The distal wide section 93 is connected to the proximal opening of the catheter / stent coil 6. In use, the tail end of the guidewire 16 is inserted into the proximal wide section 91, passes through the middle narrow section 92 and the distal wide section 93, and is then inserted into the lumen of the catheter / stent. The catheter / stent is guided to the target location by the guidewire 16. The stapler 9 has a trumpet-shaped tubular structure. The inner diameter of the stapler 9 is 0.4-1 mm.

[0142] The guidewire delivery unit 1 includes a guidewire introducer 10, which is a hollow tube segment that is narrow at the proximal end and wide at the distal end. For example, the distal end of the guidewire introducer 10 has a trumpet-shaped structure, and the proximal end has a tubular structure. The distal end of the guidewire introducer 10 is connected to the proximal end of the guidewire coil 3 outside the guidewire coil 3. The guidewire 16, housed in the guidewire coil 3, enters from the wide end of the guidewire introducer 10 and extends from the narrow end of the guidewire introducer 10 into the guiding catheter on the terminal execution system of the vascular interventional navigation system.

[0143] The guidewire inlet 10 is slidably disposed in the front section of the guidewire coil 3. Specifically, the guidewire inlet 10 can be accommodated in the cavity of the guidewire coil 3; the front sidewall of the guidewire coil 3 is provided with an upward-facing opening groove 11 along the axial direction of the guidewire coil 3, and correspondingly, the tail fin 12 extends from the wide end periphery of the guidewire inlet 10 through the opening groove 11 and extends out of the guidewire coil 3, wherein the tail fin 12 can slide axially in the opening groove 11, so that the guidewire inlet 10 extends out of the guidewire coil 3 or retracts into the guidewire coil 3. Preferably, the tail fin 12 has a sheet-like structure for easy gripping and control. The sidewall of the opening groove 11 is provided with a stop 13 at or near the opening, the stop 13 being used to prevent the tail fin 12 from sliding out of the opening groove 11. Preferably, the stop 13 is an elastic stop 13. The guidewire inlet 10 is made of metal or polymer material. The inner diameter of the guidewire inlet 10 is 0.35-1 mm.

[0144] The guidewire coil 3 has a guidewire wetting section 14 at its proximal end. At the guidewire wetting section 14, the guidewire coil 3 bends downward to form a depression structure for storing the dripped heparin or saline solution. The upper sidewall of the guidewire coil 3 has a drip opening 15. Heparin or saline solution is dripped through the drip opening 15 and stored in the depression formed by the downwardly bent guidewire coil 3 to wet the guidewire 16 passing through it. The downward bending depth of the guidewire coil 3 is 0.5-2 cm, and the length is 1-10 cm; the curvature of the bend is 0.14-0.8.

[0145] The first opening section 5 is located at the proximal end of the guide wire coil 3. The guide wire coil 3 is completely disconnected at the first opening section 5 to expose the guide wire 16 housed within the guide wire coil 3. The guide wire 16 guide wheel abuts against and clamps the guide wire 16 at the first opening section 5. Preferably, the guide wire coil 3 is disconnected at the first opening section 5, and the two sections of the guide wire coil 3 are connected as one piece at the first opening section 5 by a flexible material such as silicone.

[0146] The second opening section 8 is located at the proximal end of the catheter / stent coil 6. The catheter / stent coil 6 is completely disconnected at the second opening section 8 to expose the catheter / stent housed within it. The catheter / stent guide wheel abuts against and clamps the catheter / stent at the second opening section 8. Preferably, the catheter / stent coil 6 is disconnected at the second opening section 8, and the two sections of the catheter / stent coil 6 are connected as one piece at the second opening section 8 by a flexible material such as silicone.

[0147] Preferably, the first opening section 5 and the second opening section 8 are both located on the straight section of the guidewire coil 3 or the catheter / stent coil 6, rather than the curved section.

[0148] The guide wire 16 guide wheel includes a guide wire drive wheel 17 and a guide wire driven wheel 18. The guide wire drive wheel 17 is connected to a motor via a coupling. The motor drives the guide wire drive wheel 17 to rotate, which in turn drives the guide wire driven wheel 18 to rotate. The guide wire 16 is transported through the synchronous rotation of the guide wire drive wheel 17 and the guide wire driven wheel 18. Similarly, the catheter / stent guide wheel includes a catheter / stent drive wheel and a catheter / stent driven wheel. The catheter / stent drive wheel is connected to a motor via a coupling. The motor drives the catheter / stent drive wheel to rotate, which in turn drives the catheter / stent driven wheel to rotate. The catheter / stent is transported through the synchronous rotation of the catheter / stent drive wheel and the catheter / stent driven wheel.

[0149] The guidewire drive wheel 17 and guidewire driven wheel 18 are tightly fitted together by spring compression or belt 19 / O-ring tension, thereby achieving synchronous rotation. Similarly, the catheter / stent drive wheel and catheter / stent driven wheel are tightly fitted together by spring compression or belt 19 / O-ring tension, thereby achieving synchronous rotation.

[0150] Preferably, the surfaces of both the guidewire drive wheel 17 and the guidewire driven wheel 18 are coated with silicone, and the elasticity of the silicone easily accommodates and clamps the guidewire 16. Similarly, the surfaces of both the catheter / stent drive wheel and the catheter / stent driven wheel are coated with silicone, and the elasticity of the silicone easily accommodates and clamps the catheter / stent.

[0151] The coupling is a mechanical coupling and / or a magnetic coupling.

[0152] The coupling is a mechanical coupling, wherein the top of the motor is equipped with a conical male connector 20, and the outer periphery of the conical structure of the male connector 20 is provided with multiple evenly spaced ridges; the bottom of the guide wire 16 guide wheel and / or the guide tube / support guide wheel is equipped with a cylindrical female connector 21, the inside of the female connector 21 is a conical hollow structure, and the inner side wall of the conical hollow structure is provided with multiple evenly spaced ridges; wherein, the male connector 20 and the female connector 21 are matched by the interlocking of the ridges of the male connector 20 and the ridges of the female connector 21.

[0153] The coupling is a magnetic coupling 29, and the magnetic coupling 29 at the top of the motor attracts and locks with the magnetic coupling 29 at the bottom of the guide wire guide wheel and / or the guide tube / support guide wheel.

[0154] The consumable delivery device is mounted on a support platform 22, which is supported by a support bracket 23. The support platform includes an upper platform 24 and a lower platform 25. The upper platform 24 is equipped with a guidewire delivery unit base 31 and a catheter / stent delivery unit base 32. The guidewire delivery unit base 31 houses a guidewire delivery unit motor 33, and the catheter / stent delivery unit base 32 houses a catheter / stent delivery unit motor 34. The guidewire delivery unit motor 33 drives the guidewire guide wheel assembly 4 of the guidewire delivery unit 1, and the catheter / stent delivery unit motor 34 drives the catheter / stent guide wheel assembly 7 of the catheter / stent delivery unit 2. The upper platform 24 is 80-160 cm long and 30-60 cm wide. The lower platform 25 is fixedly connected to the support bracket 23. The upper platform 24 and the lower platform 25 are connected by a three-axis motion platform 26. The three-axis motion platform 26 is fixed to the upper surface of the lower platform 25, and the upper platform 24 is fixed to the moving axis of the three-axis motion platform 26. The movement of the three-axis motion platform 26 in the X, Y, and Z axes controls the relative displacement between the upper platform 24 and the lower platform 25, thus allowing the upper platform 24 to move up, down, left, and right relative to the lower platform 25. The upper platform 24 has a free-end connection structure 27 for fixing to the operating table on the side closest to the operating table. The free-end connection structure 27 can be a mechanical connection structure or a magnetic connection structure; it can be interconnected with the fixed-end connection structure fixed to the operating table. When the operating table is raised, lowered, or moved back and forth, the vascular intervention navigation device on the upper platform 24 also rises, lowers, or moves back and forth along with the operating table. The bottom of the support bracket 23 is equipped with pulleys 28 for sliding.

[0155] The automatic delivery device has two movement modes: continuous movement and stepping movement. In continuous movement mode, the guidewire 16 and the catheter / stent move at a constant speed. In stepping movement mode, the guidewire 16 and the catheter / stent move in a stepping manner.

[0156] All documents mentioned in this invention are incorporated herein by reference as if each document were individually incorporated by reference. Furthermore, it should be understood that after reading the foregoing teachings of this invention, those skilled in the art can make various alterations or modifications to this invention, and these equivalent forms also fall within the scope defined by the appended claims.

Claims

1. A consumables conveying device, characterized in that, The device includes: A guidewire delivery unit is used to deliver a guidewire to the terminal execution system of a vascular interventional navigation system. The guidewire delivery unit includes a guidewire coil and a guidewire guide wheel assembly. The guidewire coil is used to hold the guidewire. The front section of the guidewire coil is a straight tubular structure, and the middle and rear sections are generally U-shaped or concentric tubular structures. The guidewire coil has a first open section. The guidewire guide wheel assembly is located at the first open section and includes a pair of guidewire guide wheels. In use, the guidewire is housed in the guidewire coil and passes between the pair of guidewire guide wheels. The pair of guidewire guide wheels clamp the guidewire, and as the guidewire guide wheels rotate, they drive the guidewire forward or backward. A catheter / stent delivery unit is provided for delivering a catheter / stent to the terminal execution system of the vascular interventional navigation system. The catheter / stent delivery unit includes a catheter / stent coil and a catheter / stent guide wheel assembly. The catheter / stent coil is used to accommodate the catheter / stent. The front section of the catheter / stent coil is a straight tubular structure, while the middle and rear sections are generally U-shaped or concentric tubular structures. The catheter / stent coil has a second opening section. The catheter / stent guide wheel assembly is located at the second opening section and includes a pair of catheter / stent guide wheels. In use, the catheter / stent is accommodated in the catheter / stent coil and passes between the pair of catheter / stent guide wheels. The pair of catheter / stent guide wheels clamp the catheter / stent, and as the catheter / stent guide wheels rotate, they drive the catheter / stent forward or backward. The guidewire coil has a guidewire wetting section at its proximal end. At the guidewire wetting section, the upper sidewall of the guidewire coil has a drip opening, through which heparin or saline is dripped to wet the guidewire in the guidewire coil.

2. The consumables conveying device as described in claim 1, characterized in that, At the wetted section of the guidewire, the guidewire coil bends downward to form a depression structure for storing the dripped heparin or saline solution.

3. The consumables conveying device as described in claim 1, characterized in that, The guidewire delivery unit includes a guidewire introducer, which is a hollow tube segment that is narrow at the proximal end and wide at the distal end. The wide end of the guidewire introducer is connected to the proximal end of the guidewire coil. The guidewire, housed in the guidewire coil, enters from the wide end of the guidewire introducer and extends from the narrow end of the guidewire introducer into the guiding tube on the terminal execution system of the vascular interventional navigation system.

4. The consumable conveying device as described in claim 3, characterized in that, The guidewire inlet is slidably disposed in the front section of the guidewire coil.

5. The consumables conveying device as described in claim 4, characterized in that, The guidewire introducer can be housed in the cavity of the guidewire coil; the front sidewall of the guidewire coil is provided with an upward-facing groove that opens along the axial direction of the guidewire coil; correspondingly, the tail fin extends from the wide end of the guidewire introducer through the opening groove and out of the guidewire coil, wherein the tail fin can slide in the opening groove along the axial direction, so that the guidewire introducer extends out of the guidewire coil or retracts into the guidewire coil.

6. The consumables conveying device as described in claim 1, characterized in that, The device also includes an anastomosis device, which is a funnel-shaped tube segment that is narrow in the middle and wide at both ends, and is connected to the catheter / stent coil. The anastomosis device includes a proximal wide section, a middle narrow section, and a distal wide section. The distal wide section is connected to the proximal opening of the catheter / stent coil. In use, the tail end of the guidewire is inserted into the proximal wide section, passes through the middle narrow section and the distal wide section, and is then inserted into the lumen of the catheter / stent. The catheter / stent is delivered to the target location by the guidance of the guidewire.

7. The consumable conveying device according to any one of claims 1-6, characterized in that, The structure of the first opening section is that the guide wire coil has two first side openings, through which the guide wire contained in the guide wire coil is exposed, and the guide wire guide wheel enters the first side opening, abuts against and clamps the guide wire; The second opening section has two second side openings on the catheter / stent coil. The catheter / stent housed in the catheter / stent coil is exposed through the two second side openings. The catheter / stent guide wheel enters the second side opening and abuts against and clamps the catheter / stent.

8. The consumables conveying device as described in claim 7, characterized in that, The guide wire guide wheel includes a guide wire driving wheel and a guide wire driven wheel. The guide wire driving wheel is connected to a motor through a coupling. The motor drives the guide wire driving wheel to rotate, which in turn drives the guide wire driven wheel to rotate. The guide wire is conveyed through the synchronous rotation of the guide wire driving wheel and the guide wire driven wheel. The catheter / stent guide wheel includes a catheter / stent drive wheel and a catheter / stent driven wheel. The catheter / stent drive wheel is connected to a motor via a coupling. The operation of the motor drives the catheter / stent drive wheel to rotate, which in turn drives the catheter / stent driven wheel to rotate. The catheter / stent is transported through the synchronous rotation of the catheter / stent drive wheel and the catheter / stent driven wheel.

9. The consumables conveying device as described in claim 8, characterized in that, The synchronous rotation of the guide wire drive wheel and the guide wire driven wheel is achieved through the tight fit between them. Both the guide wire driving wheel and the guide wire driven wheel have gear structures, and synchronous rotation is achieved through the meshing of the gears; and The synchronous rotation of the catheter / stent drive wheel and the catheter / stent driven wheel is achieved through the tight fit between the drive wheel and the driven wheel. Both the driving wheel and the driven wheel of the catheter / stent have gear structures, and synchronous rotation is achieved through the meshing of the gears.

10. The consumables conveying device as described in claim 1, characterized in that, The consumable delivery device is mounted on a support platform, which is supported by a support bracket. The support platform includes an upper platform and a lower platform. The upper platform is equipped with a guidewire delivery unit base and a catheter / stent unit base. Motors are installed in both the guidewire delivery unit base and the catheter / stent unit base, respectively driving the guidewire guide wheel assembly of the guidewire delivery unit and the catheter / stent guide wheel assembly of the catheter / stent delivery unit. The upper platform and the lower platform are connected via a three-axis motion platform. The three-axis motion platform is fixed to the upper surface of the lower platform, and the upper platform is fixed to the moving axis of the three-axis motion platform. The movement of the three-axis motion platform in the X, Y, and Z axes controls the relative displacement between the upper platform and the lower platform. The lower platform is fixedly connected to the support bracket.

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