Vascular intervention catheter guidewire delivery device

Abstract

The application discloses a vascular interventional catheter guide wire delivery device, which comprises a guide wire feeding support fixed above an operating table and an operation sensing seat close to the operation position of a doctor's hand, the guide wire feeding support is fixedly connected with a torque sensing seat, and the operation sensing seat is provided with an operation signal conversion mechanism and a resistance feedback mechanism corresponding to an enlarged operation handle in the inner cavity of the operation sensing seat, the signal conversion mechanism is used for converting the rotation and push-pull of the enlarged operation handle into electrical signals to drive the rotation and push-pull feeding of a guide wire rotating mechanism and a clamping feeding mechanism, and the damping feedback mechanism is used for simulating the guide wire resistance deflection sensed by a plurality of piezoelectric strain gauges and feeding back the stress condition of the guide wire. Through the structure of force sensing, operation signal conversion and force feedback, the operation position of the doctor is transferred from the area close to the patient to an operation position more in line with ergonomics, while the operation feeling of the doctor on the guide wire is completely retained, the operation burden of the doctor is reduced, and the precision and safety of the interventional operation are guaranteed.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically a vascular interventional catheter guidewire delivery device. Background Technology

[0002] In interventional vascular surgery, surgeons use three basic movements—pushing, pulling, and rotating—to maneuver the guidewire through the vascular network to reach the lesion. Based on experience in interventional medicine, the core of guidewire manipulation lies in gentleness and attentive listening. The procedure requires judging the appropriate force and rotation based on the feedback force from the guidewire's contact with the blood vessel and the deformation of the guidewire tip. This is crucial to prevent the guidewire from puncturing small branch vessels or protruding from small vessels, leading to serious complications such as bleeding. This requirement is particularly mandatory in cerebrovascular and neurological interventional procedures.

[0003] In traditional manual manipulation, the doctor gently pinches the proximal tip of the guidewire with their left hand (usually using the thumb, index, and middle fingers), while their right hand assists in manipulating the catheter. The guidewire is advanced, retracted, and rotated through subtle finger movements. The main difference between skilled and novice operators lies in their guidewire control technique. Skilled operators can keenly perceive the interaction between the guidewire tip and the blood vessel wall through the tactile sensation of their fingertips, adjusting the force and rhythm based on the feedback from the guidewire to achieve a smooth and abrupt operation.

[0004] Because of the small diameter of the guidewire, prolonged handling, rotation, and pushing can cause continuous tension in the surgeon's hand muscles, leading to fatigue. This not only reduces sensitivity to feedback force but may also cause distorted movements, increasing surgical risks. In recent years, vascular interventional surgical robot technology has developed rapidly, resulting in various guidewire delivery devices. These devices mainly deliver guidewires through friction wheel clamping or sliding platform pushing. The operation method has evolved from early manual operation to current handle or joystick operation. However, mechanical operation isolates the force feedback between the guidewire and the surgeon's fingers, reducing operational precision. Therefore, this invention provides a vascular interventional catheter guidewire delivery device. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a vascular interventional catheter guidewire delivery device to solve the aforementioned problems.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a vascular interventional catheter guidewire delivery device, comprising a guidewire feeder fixed above the operating table and an operation sensor seat near the surgeon's hand position. A rotating drive seat is fixedly connected to the guidewire feeder above the patient. A guidewire feeder drum is rotatably mounted at the front end of the rotating drive seat, and a guidewire rotation mechanism is provided inside the rotating drive seat corresponding to the guidewire feeder drum. A clamping and feeding mechanism is provided on the inner wall of the guidewire feeder drum corresponding to the guidewire. A Y-shaped valve fixing mechanism is fixedly connected to the guidewire feeder drum on the distal side of the guidewire feeder drum via an extension arm. A torque actuator is fixedly connected to the middle of the extension arm. The torque sensing seat is concentrically arranged with the wire feeding drum. Multiple piezoelectric strain gauges are fixed in a ring array at equal intervals on the inner wall of the central through hole of the torque sensing seat. The operation sensing seat is horizontally fixed and a magnifying operation handle is movably inserted into one side of the operation sensing seat. The operation sensing seat has an operation signal conversion mechanism and a resistance feedback mechanism corresponding to the magnifying operation handle in its inner cavity. The signal conversion mechanism is used to convert the rotation and push-pull of the magnifying operation handle into electrical signals to drive the rotation and push-pull feed of the guide wire rotation mechanism and the clamping feed mechanism. The damping feedback mechanism is used to simulate the guide wire resistance deflection sensed by multiple piezoelectric strain gauges and provide feedback on the force on the guide wire.

[0007] Preferably, the wire guide rotation mechanism includes an external gear ring, which is fixedly connected to the middle of the outer wall of the wire feeding drum. An annular groove is formed inside the insertion hole at the front end of the rotation drive seat corresponding to the external gear ring. A drive cavity is formed inside the wire feeding bracket corresponding to the position of the external gear ring, and the rear side of the annular groove communicates with the drive cavity. A rotary servo motor is fixedly connected to one side of the wire feeding bracket, and the output shaft of the rotary servo motor passes through the rotation drive seat and is keyed and fixed to a rotary drive gear inside the drive cavity. The rotary drive gear meshes with the external gear ring for transmission.

[0008] Preferably, the clamping and feeding mechanism includes a feeding sliding ring seat, which is slidably connected to the inner cavity of the wire feeding drum. Multiple clamping seats are fixedly connected in an array on the inner wall of the wire feeding drum near the distal end of the guide wire and on the inner wall of the feeding sliding ring seat. A silicone bionic chuck is provided on the side of the clamping seat facing the center of the wire feeding drum. A feeding drive electrode is embedded on the inner wall of the wire feeding drum corresponding to the distal end of the guide wire, and a feeding reset spring is inserted between the feeding drive electrode and the feeding sliding ring seat.

[0009] Preferably, the silicone bionic chuck is fixedly connected to a moving iron core on the side facing the center of the clamping seat, and the moving iron core is movably inserted into the center of the clamping seat. A clamping electromagnetic coil is embedded on the outside of the clamping moving iron core at the center of the clamping seat, and a clamping fixed iron core is fixedly connected to the center of the clamping electromagnetic coil. A pressing and ejecting spring is fixedly connected between the clamping moving iron core and the clamping fixed iron core.

[0010] Preferably, the signal conversion mechanism includes a rotation angle sensor and a magnetostrictive linear displacement sensor. A sensing piston is slidably connected to the center of the inner cavity of the operating sensing seat, and operating rod return springs are fixedly connected between the two side walls of the inner cavity of the operating sensing seat and the two sides of the sensing piston, respectively. The rotation angle sensor is embedded in the center of the sensing piston, and the measuring head of the rotation angle sensor is fixedly connected to the end of the amplified operating handle. A magnetostrictive linear displacement sensor is fixedly connected to one side of the inner wall of the operating sensing seat, and the sensor sliding block on the magnetostrictive linear displacement sensor is fixedly connected to one side of the outer wall of the sensing piston.

[0011] Preferably, the resistance feedback mechanism includes multiple miniature vibration motors embedded in a ring array on the outer wall of the magnifying operating handle corresponding to the doctor's grip position, and each miniature vibration motor includes a silicone sleeve on its outer side. Multiple copper conductive strips are embedded and installed at one end of the outer wall of the magnifying operating handle, and the multiple copper conductive strips are arranged one-to-one with the multiple miniature vibration motors. Multiple aligned conductive copper contacts are fixedly connected at equal intervals to the inner wall of the sliding hole corresponding to the magnifying operating handle, and the multiple aligned conductive copper contacts correspond one-to-one with the positions of multiple piezoelectric strain gauges.

[0012] Preferably, the resistance feedback mechanism further includes a force feedback permanent magnet end block, which is slidably connected to the section of the operating induction seat cavity away from the amplification operating handle, and a force feedback electromagnet is embedded in the operating induction seat cavity at the end away from the amplification operating handle.

[0013] Preferably, the Y-shaped valve fixing mechanism includes L-shaped clamping seats arranged in mirror symmetrical arrangement on both sides. The outer center of the L-shaped clamping seat is threaded with a clamping and fixing screw, and the clamping and fixing screws on both sides are rotatably installed with a central rubber clamp after passing through the L-shaped clamping seat towards the center.

[0014] Preferably, a fixed column is fixedly connected to the outer side of the wire feeding bracket, and the bottom of the fixed column is fixedly connected to one side of the operating table through a fixed clamp.

[0015] Preferably, a hand support is fixedly connected to one side of the wire feeding bracket corresponding to the position of the operation sensor seat, and a soft rubber pad is fixedly connected to the upper end of the hand support.

[0016] Beneficial effects Compared with the prior art, the present invention has the following advantages: This invention utilizes a pressure torque sensing seat. When the guidewire encounters resistance during its journey within the blood vessel, it bends and deflects, compressing the pressure torque sensing seat. Different directions and magnitudes of force cause corresponding piezoelectric strain gauges to generate different electrical signals. These signals are transmitted to the resistance feedback mechanism within the sensing seat, allowing the surgeon to directly perceive the force encountered at the guidewire tip by holding the amplified operating handle. This eliminates the need for the surgeon to extend their hand close to the patient on the operating table, avoiding strain caused by prolonged hand-raising postures. The force feedback accurately transmits the resistance status of the guidewire, preserving the surgeon's judgment of the intraoperative situation. Furthermore, the larger diameter amplified operating handle is easier to grip than a very small diameter guidewire, reducing the likelihood of excessive hand muscle tension during prolonged operation and preventing fatigue-induced decreased operational precision, thus effectively reducing surgical risks. This device, through its force sensing combined with operational signal conversion and force feedback structure, shifts the surgeon's operating position from the area close to the patient to a more ergonomic position while preserving the surgeon's feel for the guidewire. This reduces the surgeon's workload and ensures the accuracy and safety of interventional procedures. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a side sectional view of the present invention; Figure 3 This is a rear-view sectional view of the clamping and feeding mechanism of the present invention; Figure 4 This is a schematic diagram of the enlarged internal structure of the operating handle in this invention; Figure 5 This is a diagram of the internal structure of the clamping seat in this invention; Figure 6 This is a diagram of the internal structure of the torque sensing seat in this invention.

[0018] In the diagram: 1. Wire feed bracket; 2. Rotary drive seat; 3. Wire feed drum; 4. External gear ring; 5. Rotary servo motor; 6. Rotary drive gear; 7. Clamping seat; 8. Silicone bionic chuck; 9. Feed sliding ring seat; 10. Feed return spring; 11. Feed drive electrode iron; 12. Extension arm; 13. Torque sensor seat; 14. Piezoelectric strain gauge; 15. Operation sensor seat; 16. Magnetic operating handle; 17. Sensing piston; 18. Rotation angle sensor; 19. Sensor sliding block; 20. Magnetic... 21. Telescopic linear displacement sensor; 22. Operating lever return spring; 23. Force feedback electromagnet; 24. Force feedback permanent magnet end block; 25. Fixed column; 26. Hand support; 27. Soft rubber pad; 28. Fixed clamp; 29. ​​L-shaped clamping seat; 30. Center rubber clamp; 31. Clamping fixing screw; 32. Clamping electromagnetic coil; 33. Clamping fixed iron core; 34. Clamping moving iron core; 35. Pressing ejection spring; 36. Miniature vibration motor; 37. Copper conductive strip; 38. Alignment conductive copper contact. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figure 1-6 This invention provides a vascular interventional catheter guidewire delivery device, comprising a guidewire feeder 1 fixed above the operating table and an operation sensor 15 near the surgeon's hand position. A rotation drive 2 is fixedly connected to the guidewire feeder 1 facing upwards towards the patient. A guidewire feeder drum 3 is rotatably mounted at the front end of the rotation drive 2, and a guidewire rotation mechanism is provided inside the rotation drive 2 corresponding to the guidewire feeder drum 3. A clamping and feeding mechanism is provided on the inner wall of the guidewire feeder drum 3 corresponding to the guidewire. A Y-shaped valve fixing mechanism is fixedly connected to the guidewire feeder drum 3 via an extension arm 12 on the distal side of the guidewire feeder drum 3. A torque sensor 13 is fixedly connected to the middle of the extension arm 12. The torque sensing seat 13 is concentrically arranged with the wire feeding drum 3. Multiple piezoelectric strain gauges 14 are fixed in a ring array at equal intervals on the inner wall of the central through hole of the torque sensing seat 13. The operation sensing seat 15 is horizontally fixed, and an amplification operation handle 16 is movably inserted into one side of the operation sensing seat 15. The inner cavity of the operation sensing seat 15 is provided with an operation signal conversion mechanism and a resistance feedback mechanism corresponding to the amplification operation handle 16. The signal conversion mechanism is used to convert the rotation and push-pull of the amplification operation handle 16 into an electrical signal to drive the rotation and push-pull feed of the wire guide rotation mechanism and the clamping feed mechanism. The damping feedback mechanism is used to simulate the wire resistance deflection sensed by the multiple piezoelectric strain gauges 14 and to provide feedback on the force condition of the wire.

[0021] In use, the doctor pre-positions the catheter and guidewire along the surgical path, then passes the proximal end of the guidewire through the feed drum 3 and torque sensor seat 13, and clamps and fixes it using the clamping and feeding mechanism. The Y-valve is then fixed to the Y-valve fixing mechanism. The doctor operates the amplified operating handle 16 near the operating position. When the doctor needs to rotate the guidewire to adjust the tip angle or push / pull the guidewire into place, the movement of the amplified operating handle 16 is captured by the operation signal conversion mechanism and converted into a corresponding electrical signal. This directly drives the guidewire rotation mechanism inside the rotation drive seat 2, causing the feed drum 3 to rotate as a whole. Simultaneously, it drives the clamping and feeding mechanism to move the guidewire along the axial direction of the feed drum 3, achieving precise reproduction of the guidewire movement.

[0022] When the guidewire encounters resistance while traveling within the blood vessel, it bends and deflects, thus compressing the torque sensing seat 13. Different directions and magnitudes of force cause the piezoelectric strain gauges 14 at corresponding positions to generate different electrical signals. After the electrical signals are transmitted to the resistance feedback mechanism within the operating sensing seat 15, the doctor can intuitively perceive the force encountered at the tip of the guidewire by holding the magnified operating handle 16. This eliminates the need for the doctor to extend their hand to the operating table near the patient, avoiding the strain caused by maintaining a raised hand position for a long time. It also accurately transmits the resistance state of the guidewire through force feedback, without affecting the doctor's judgment of the intraoperative situation. At the same time, the larger diameter magnified operating handle 16 is easier to hold than the extremely small diameter guidewire, and it is less likely to cause excessive tension in the hand muscles during prolonged operation, avoiding fatigue-induced decrease in operating accuracy and effectively reducing surgical risks.

[0023] This device, through a structure that combines force sensing with operation signal conversion and force feedback, shifts the doctor's operating position from the area close to the patient to a more ergonomic position, while fully preserving the doctor's feel for the guidewire. This reduces the doctor's workload and ensures the accuracy and safety of interventional procedures.

[0024] Specifically, the guidewire rotation mechanism includes an external gear ring 4, which is fixedly connected to the middle of the outer wall of the wire feeding drum 3. An annular groove is provided inside the front end of the drive seat 2 corresponding to the external gear ring 4. A drive cavity is provided inside the wire feeding bracket 1 corresponding to the position of the external gear ring 4, and the rear side of the annular groove communicates with the drive cavity. A rotary servo motor 5 is fixedly connected to one side of the wire feeding bracket 1. The output shaft of the rotary servo motor 5 passes through the drive seat 2 and is keyed to a rotary drive gear 6 in the drive cavity. The rotary drive gear 6 meshes with the external gear ring 4 for transmission. When the rotary servo motor 5 drives the rotary drive gear 6 to rotate according to the operation signal, it can drive the entire wire feeding drum 3 to rotate through meshing with the external gear ring 4, thereby realizing the rotation operation of the guidewire. The rotary servo motor can accurately respond to the signal and synchronously reproduce the rotation action of the magnified operating handle operated by the doctor, ensuring the accuracy of the operation.

[0025] Specifically, the clamping and feeding mechanism includes a feeding sliding ring seat 9, which is slidably connected to the inner cavity of the wire feeding drum 3. Multiple clamping seats 7 are fixedly connected in an array to the inner wall of the wire feeding drum 3 near the distal end of the guide wire and the inner wall of the feeding sliding ring seat 9. A silicone bionic chuck 8 is provided on the side of the clamping seat 7 facing the center of the wire feeding drum 3. A feed driving electrode iron 11 is embedded on the inner wall of the wire feeding drum 3 corresponding to the distal end of the guide wire, and a feed return spring 10 is inserted between the feed driving electrode iron 11 and the feeding sliding ring seat 9. When the device needs to push the guide wire forward, the silicone bionic chuck 8 on the inner wall of the wire feeding drum 3 loosens, and the silicone bionic chuck 8 on the inner wall of the sliding ring seat 9 is driven and clamped by the clamping seats 7, thereby clamping the guide wire through the sliding ring seat 9. The feed driving electrode iron 11 is energized to generate magnetic force, attracting the feeding sliding ring seat 9 along the inner cavity of the wire feeding drum 3 towards the feed... The drive electrode 11 slides on one side to push the guidewire, while simultaneously compressing the feed reset spring 10. When the sliding ring seat 9 is pushed to the end of its stroke, the rubber bionic clamp 8 on the inner wall of the wire feeding drum 3 clamps it, and the silicone bionic clamp 8 on the inner wall of the sliding ring seat 9 releases it, and the power supply to the feed drive electrode 11 is disconnected. This allows the sliding ring seat 9 to reset under the reset force of the feed reset spring 10. Repeating the above cycle can continuously push the guidewire into the patient's blood vessel. If it is necessary to withdraw the guidewire, the above action sequence can be reversed to achieve gradual withdrawal of the guidewire. The doctor does not need to manually push the guidewire directly, and the guidewire feeding operation can be accurately completed. Moreover, the two silicone bionic clamps alternately clamp and hold the guidewire, and the feeding action is continuous and smooth without affecting the rotation of the guidewire. It can simultaneously realize the combined action of guidewire rotation and feeding, which meets the action requirements of actual vascular interventional operation. The magnetic adsorption drive structure of the feed drive electrode iron 11 and the sliding ring seat 9 can adjust the magnitude of the adsorption force by adjusting the magnitude of the current flowing through the feed drive electrode iron 11, thereby controlling the movement speed of the feed sliding ring seat 9. It can adapt to different feed speed requirements, has higher control precision, and the magnetic drive reset drive has a fast response speed, making it suitable for high-frequency operation.

[0026] Specifically, a moving iron core 33 is fixedly connected to the silicone bionic chuck 8 on the side facing the center of the clamping base 7, and the moving iron core 33 is movably inserted into the center of the clamping base 7. A clamping electromagnetic coil 31 is embedded on the outside of the clamping moving iron core 33 at the center of the clamping base 7, and a clamping fixed iron core 32 is fixedly connected to the center of the clamping electromagnetic coil 31. A pressing and ejecting spring 34 is fixedly connected between the clamping moving iron core 33 and the clamping fixed iron core 32. When the guide wire is released, the clamping electromagnetic coil 31 is energized, causing the clamping fixed iron core 32 to generate electromagnetic attraction, which attracts the clamping moving iron core 33 and overcomes the pressing and ejecting spring. The spring force of the spring 34 moves away from the silicone bionic chuck 8, causing the silicone bionic chuck 8 to retract and release the guide wire. When it is necessary to clamp the guide wire, the power supply of the clamping electromagnetic coil 31 is disconnected, the electromagnetic attraction of the clamping fixed iron core 32 disappears, and the clamping moving iron core 33 is pushed outward under the action of the spring force of the pressing and pushing spring 34, causing the silicone bionic chuck 8 to move closer to clamp the guide wire. The electromagnetic drive has a fast opening and closing response speed and simple control logic, which is convenient to cooperate with the alternating feed action to achieve rapid clamping and releasing. The silicone bionic chuck 8 has a large friction force, which clamps the guide wire stably and will not damage the outer wall of the guide wire.

[0027] Specifically, the signal conversion mechanism includes a rotation angle sensor 18 and a magnetostrictive linear displacement sensor 20. A sensing piston 17 is slidably connected to the center of the inner cavity of the operating sensing base 15, and operating rod return springs 21 are fixedly connected between the two side walls of the inner cavity of the operating sensing base 15 and the two sides of the sensing piston 17, respectively. The rotation angle sensor 18 is embedded in the center of the sensing piston 17, and the measuring head of the rotation angle sensor 18 is fixedly connected to the end of the amplifying operating handle 16. A magnetostrictive linear displacement sensor 20 is fixedly connected to one side of the inner wall of the operating sensing base 15, and the sensor sliding block 19 on the magnetostrictive linear displacement sensor 20 is fixedly connected to one side of the outer wall of the sensing piston 17. When the doctor rotates the amplifying operating handle 16, the rotation angle sensor 18 can directly capture the rotation angle of the amplifying operating handle 16 and convert it into a corresponding electrical signal, which is then sent to the operating base 15. The rotary servo motor 5 drives the wire feeding drum 3 to rotate synchronously by the same angle, accurately replicating the doctor's rotation operation. When the doctor pushes or pulls the magnifying operating handle 16, the magnifying operating handle 16 drives the sensing piston 17 to slide along the inner cavity of the operating sensing seat 15, and the sensor sliding block 19 slides synchronously. The magnetostrictive linear displacement sensor 20 can capture the displacement distance and displacement speed of the sensing piston 17, convert them into corresponding electrical signals to control the energizing frequency and current of the feed drive electrode iron 11, thereby adjusting the reciprocating frequency and moving speed of the feed sliding ring seat 9, realizing precise control of the wire feeding and retraction speed. The operating rod reset spring 21 can drive the sensing piston 17 and the magnifying operating handle 16 to reset after the doctor stops applying force, preparing for the next operation. The overall signal capture is direct and accurate, the response speed is fast, and there is no signal lag affecting the operation.

[0028] Specifically, the resistance feedback mechanism includes multiple miniature vibration motors 35 embedded in a ring array on the outer wall of the amplifying operating handle 16 corresponding to the doctor's grip position, and each miniature vibration motor 35 has a silicone sleeve on its outer side. Multiple copper conductive strips 36 are embedded at one end of the outer wall of the amplifying operating handle 16, and each copper conductive strip 36 corresponds to one of the multiple miniature vibration motors 35. Multiple aligned conductive copper contacts 37 are fixedly connected at equal intervals to the inner wall of the sliding hole corresponding to the amplifying operating handle 16, and each aligned conductive copper contact 37 corresponds to one of the positions of multiple piezoelectric strain gauges 14. When the guidewire tip contacts the blood vessel wall during device delivery, resistance is generated. When force is applied, the feed of the guidewire will compress and bend the guidewire. The bent and deflected guidewire will contact the piezoelectric strain gauge 14 at the corresponding position. The piezoelectric strain gauge 14 generates an electrical signal due to the force, which energizes the corresponding conductive copper contact 37. At this time, during the sliding of the magnification operation handle 16, the copper conductive strip 36 at the corresponding position contacts and conducts with the energized conductive copper contact 37, which can trigger the start of the micro vibration motor 35 at the corresponding position. The vibration of the micro vibration motor 35 at different positions can transmit resistance feedback in different directions to the doctor. The silicone sleeve can protect the micro vibration motor 35 and soften the vibration transmission tactile sensation, avoiding the vibration being too harsh and affecting the doctor's operation judgment.

[0029] Specifically, the resistance feedback mechanism also includes a force feedback permanent magnet end block 23, which is slidably connected to the section of the operating sensor base 15 away from the amplifying operating handle 16. A force feedback electromagnet 22 is embedded in the section of the operating sensor base 15 away from the amplifying operating handle 16. When the guidewire travel resistance increases, the bending amplitude of the guidewire will increase, resulting in a larger amplitude of the guidewire squeezing the piezoelectric strain gauge. The electrical signal output by the piezoelectric strain gauge 14 will increase synchronously, and the output current of the corresponding control force feedback electromagnet 22 will increase accordingly. The repulsive magnetic force of the force feedback electromagnet 22 on the force feedback permanent magnet end block 23 will increase. Through the sensing piston 17, a reaction force will be applied to the amplifying operating handle 16, so that the doctor can feel the reverse resistance from the front when holding the amplifying operating handle 16. This will intuitively simulate the magnitude of the resistance encountered by the guidewire. Combined with the vibration prompts of the micro vibration motor 35 at different positions, the magnitude of the resistance can be transmitted to the doctor at the same time. The force feedback effect is more realistic and completely reproduces the force feeling when manually operating the guidewire.

[0030] Specifically, the Y-shaped valve fixing mechanism includes L-shaped clamping seats 28 arranged symmetrically on both sides. The outer center of the L-shaped clamping seat 28 is connected to a clamping and fixing screw 30, and both clamping and fixing screws 30 are rotatably mounted with a central rubber clamp 29 after passing through the L-shaped clamping seat 28 towards the center. Rotating the clamping and fixing screw 30 can drive the two central rubber clamps 29 to move towards each other, clamping and fixing the Y-shaped valve body, preventing the Y-shaped valve from shifting due to external force during guidewire feeding, and ensuring the stability of the guidewire delivery path. After the guidewire is delivered a certain distance, the clamping and fixing screw 30 is released, the Y-shaped valve is removed, and then the catheter is pushed. After the catheter is in place under the guidance of the guidewire, the Y-shaped valve body is fixed in the Y-shaped valve fixing mechanism again, and the subsequent delivery operation can continue. After the position of the Y-shaped valve is fixed, the displacement of the Y-shaped valve during the operation is avoided, which affects the operation path, and the stability of guidewire delivery is further improved.

[0031] Specifically, a fixed column 24 is fixedly connected to the outside of the wire feeder 1, and the bottom of the fixed column 24 is fixedly connected to the side of the operating table through a fixed clamp 27. The fixed clamp 27 includes a clip frame that clamps the edge of the operating table. A locking screw is threaded to the outside of the clip frame. Tightening the locking screw can quickly fix the entire device to the side of the operating table. Doctors can adjust the fixed position of the device on the operating table according to their own operating habits, adapting to the operating habits of different doctors, making it flexible and convenient to use.

[0032] Specifically, a hand rest 25 is fixedly connected to one side of the wire feeder 1, corresponding to the position of the operating sensor base 15, and a soft rubber pad 26 is fixedly connected to the upper end of the hand rest 25. When the doctor operates the magnification handle, he can rest his wrist on the hand rest 25. The soft rubber pad 26 can improve the comfort of the wrist, further reduce the muscle burden caused by long-term operation, conform to ergonomic design, effectively relieve fatigue caused by long-term surgical operation, and ensure the stability of the doctor's operation.

[0033] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used only 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 process, method, article, or apparatus.

[0035] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A vascular interventional catheter guidewire delivery device, characterized in that, The device includes a wire feeding bracket (1) fixed above the operating table and an operation sensor base (15) near the surgeon's hand. The wire feeding bracket (1) is fixedly connected to a rotating drive base (2) facing upwards from the patient. A wire feeding drum (3) is rotatably mounted on the front end of the rotating drive base (2). A guide wire rotation mechanism is provided inside the rotating drive base (2) corresponding to the wire feeding drum (3). A clamping and feeding mechanism is provided on the inner wall of the wire feeding drum (3) corresponding to the guide wire. A Y-shaped valve fixing mechanism is fixedly connected to the distal end of the guide wire on the side of the wire feeding drum (3) via an extension arm (12). A torque sensor base (13) is fixedly connected to the middle of the inside of the extension arm (12). The torque sensor base (13) and the wire feeding drum are connected to each other. (3) Concentric setting, the inner wall of the central through hole of the torque sensing seat (13) is fixed with multiple piezoelectric strain gauges (14) in a ring array at equal intervals. The operation sensing seat (15) is horizontally fixed and installed, and an amplification operation handle (16) is movably inserted into one side of the operation sensing seat (15). The inner cavity of the operation sensing seat (15) is provided with an operation signal conversion mechanism and a resistance feedback mechanism corresponding to the amplification operation handle (16). The signal conversion mechanism is used to convert the rotation and push-pull of the amplification operation handle (16) into an electrical signal to drive the rotation and push-pull feed of the guide wire rotation mechanism and the clamping feed mechanism. The damping feedback mechanism is used to simulate the guide wire resistance deflection sensed by multiple piezoelectric strain gauges (14) and to provide feedback on the force condition of the guide wire.

2. The vascular interventional catheter guidewire delivery device according to claim 1, characterized in that, The wire guide rotation mechanism includes an external gear ring (4), which is fixedly connected to the middle of the outer wall of the wire feeding drum (3). An annular groove is opened inside the insertion hole at the front end of the rotation drive seat (2) corresponding to the external gear ring (4). A drive cavity is opened inside the wire feeding bracket (1) corresponding to the position of the external gear ring (4). The rear side of the annular groove is connected to the drive cavity. A rotary servo motor (5) is fixedly connected to one side of the wire feeding bracket (1). The output shaft of the rotary servo motor (5) passes through the rotation drive seat (2) and is keyed and fixed to a rotary drive gear (6) in the drive cavity. The rotary drive gear (6) meshes with the external gear ring (4) for transmission.

3. The vascular interventional catheter guidewire delivery device according to claim 1, characterized in that, The clamping and feeding mechanism includes a feeding sliding ring seat (9), which is slidably connected to the inner cavity of the wire feeding drum (3). Multiple clamping seats (7) are fixedly connected in an array on the inner wall of the wire feeding drum (3) near the far end of the guide wire and on the inner wall of the feeding sliding ring seat (9). A silicone bionic chuck (8) is provided on the side of the clamping seat (7) facing the center of the wire feeding drum (3). A feeding drive electrode iron (11) is embedded on the inner wall of the wire feeding drum (3) on the side corresponding to the far end of the guide wire. A feeding reset spring (10) is inserted between the feeding drive electrode iron (11) and the feeding sliding ring seat (9).

4. The vascular interventional catheter guidewire delivery device according to claim 3, characterized in that, The silicone bionic chuck (8) is fixedly connected to a clamping moving iron core (33) on the side facing the center of the clamping seat (7), and the clamping moving iron core (33) is movably inserted into the center of the clamping seat (7). A clamping electromagnetic coil (31) is embedded on the outside of the clamping moving iron core (33) at the center of the clamping seat (7), and a clamping fixed iron core (32) is fixedly connected to the center of the clamping electromagnetic coil (31). A pressing and ejecting spring (34) is fixedly connected between the clamping moving iron core (33) and the clamping fixed iron core (32).

5. The vascular interventional catheter guidewire delivery device according to claim 1, characterized in that, The signal conversion mechanism includes a rotation angle sensor (18) and a magnetostrictive linear displacement sensor (20). The center of the inner cavity of the operation sensing seat (15) is slidably connected to the sensing piston (17), and the two side walls of the inner cavity of the operation sensing seat (15) are respectively fixedly connected to the two sides of the sensing piston (17). The rotation angle sensor (18) is embedded in the center of the sensing piston (17), and the measuring head of the rotation angle sensor (18) is fixedly connected to the end of the magnifying operation handle (16). The magnetostrictive linear displacement sensor (20) is fixedly connected to one side of the inner wall of the operation sensing seat (15), and the sensor sliding block (19) on the magnetostrictive linear displacement sensor (20) is fixedly connected to one side of the outer wall of the sensing piston (17).

6. The vascular interventional catheter guidewire delivery device according to claim 1, characterized in that, The resistance feedback mechanism includes multiple micro vibration motors (35) embedded in a ring array on the outer wall of the amplifying operating handle (16) corresponding to the doctor's grip position. Each micro vibration motor (35) has a silicone sleeve on its outer side. Multiple copper conductive strips (36) are embedded and installed on one end of the outer wall of the amplifying operating handle (16). The multiple copper conductive strips (36) are set one-to-one with the multiple micro vibration motors (35). The operating sensing seat (15) is fixedly connected with multiple aligned conductive copper contacts (37) at equal intervals on the inner wall of the sliding hole of the amplifying operating handle (16). The multiple aligned conductive copper contacts (37) are one-to-one with the positions of multiple piezoelectric strain gauges (14).

7. The vascular interventional catheter guidewire delivery device according to claim 6, characterized in that, The resistance feedback mechanism also includes a force feedback permanent magnet end block (23), which is slidably connected to a section of the inner cavity of the operation sensing seat (15) away from the amplification operation handle (16), and a force feedback electromagnet (22) is embedded in the inner cavity of the operation sensing seat (15) at the end away from the amplification operation handle (16).

8. The vascular interventional catheter guidewire delivery device according to claim 1, characterized in that, The Y-shaped valve fixing mechanism includes an L-shaped clamping seat (28) arranged symmetrically on both sides. The outer center of the L-shaped clamping seat (28) is threaded with a clamping fixing screw (30), and the clamping fixing screws (30) on both sides pass through the L-shaped clamping seat (28) towards the center and are rotatably installed with a central rubber clamp (29).

9. A vascular interventional catheter guidewire delivery device according to claim 1, characterized in that, The wire feeding bracket (1) is fixedly connected to a fixed column (24) on its outer side, and the bottom of the fixed column (24) is fixedly connected to one side of the operating table through a fixed clamp (27).

10. A vascular interventional catheter guidewire delivery device according to claim 1, characterized in that, A hand support (25) is fixedly connected to one side of the wire feeding bracket (1) at the position corresponding to the operation sensor seat (15), and a soft rubber pad (26) is fixedly connected to the upper end of the hand support (25).

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