A guide wire delivery device based on friction wheel clamping and a control method thereof

Abstract

The application relates to the technical field of medical devices and vascular interventional operation robots, in particular to a guide wire delivery device based on friction wheel clamping and a control method thereof. The device comprises a mounting base, a guide wire limiting channel, a main and passive friction wheel module containing at least four pairs of friction wheels, a control module, a motor driving module, a wireless operation module and a power supply module; the multiple pairs of friction wheels are arranged along the guide wire axial direction to form a distributed clamping structure, the control module receives instructions through the wireless operation module, a non-blocking multi-axis cooperative control method is adopted to make the guide wire rotate around the shaft while moving in the axial direction, delivery-rotation cooperative control is realized, and speed gear switching is supported. The application can reduce local damage of the guide wire, realize smooth cooperation of push-pull composite actions, and is suitable for automatic delivery control of the guide wire in a vascular interventional operation.

Description

Technical Field

[0001] This application relates to the field of medical devices and vascular interventional surgical robots, and more specifically, to a guidewire delivery device based on friction wheel clamping and its control method. Background Technology

[0002] Interventional vascular surgery is a minimally invasive treatment method that relies on medical imaging equipment to guide the entry of thin, flexible instruments such as guidewires and catheters into the blood vessels and reach the lesion area to complete procedures such as diagnosis, drug administration, embolization, stent implantation, or thrombectomy. Compared with traditional open surgery, interventional vascular surgery has the advantages of less trauma, faster recovery, and more accurate positioning. It has been widely used in the fields of cardiovascular and cerebrovascular diseases, peripheral vascular diseases, and interventional tumor treatment. In interventional surgery, the guidewire is usually used as a pilot device to enter the blood vessel. Its delivery accuracy, rotation response, and path passage capability directly affect the subsequent catheter follow-up and the safety of the surgery.

[0003] In current clinical practice, guidewires are still mostly delivered manually by doctors. Doctors need to stand at the operating table for extended periods under X-ray fluoroscopy, controlling the guidewire's movement within the blood vessel through hand movements such as pushing, retracting, twisting, and clamping. While this method offers high operational flexibility, it also has significant shortcomings. On the one hand, doctors are exposed to ionizing radiation for extended periods, and even with protective equipment such as lead aprons, they still face cumulative radiation damage and occupational health risks. On the other hand, manual operation is easily affected by physiological tremors, hand fatigue, differences in experience, and the burden of hand-eye coordination, making it difficult to maintain long-term stability in guidewire advancement distance, rotation angle, and operational force. This is especially true in complex vascular pathways such as stenosis, tortuosity, and bifurcation, where the guidewire requires precise delivery and rotational coordination, and relying solely on manual control has certain limitations.

[0004] Therefore, there is an urgent need for a guidewire delivery device and its control method that can reduce local damage to the guidewire through distributed clamping with multiple friction wheels, achieve smooth coordination of delivery and rotation through non-blocking multi-axis collaborative control, and have speed graded switching function and wireless remote control capability, so as to improve the safety, stability and precision of guidewire manipulation in vascular interventional surgery. Summary of the Invention

[0005] In view of this, in order to solve the above-mentioned problems in the prior art, this application provides a guide wire delivery device based on friction wheel clamping and its control method.

[0006] The embodiments of this application are implemented as follows: In a first aspect, this application provides a guide wire delivery device based on friction wheel clamping, including a mounting base, a guide wire limiting channel, a main and passive friction wheel module, a control module, a motor drive module, a wireless operation module, and a power supply module: The guide wire limiting channel is provided on the mounting base to limit the movement path of the guide wire when it passes through the device; The active and passive friction wheel module is disposed on the mounting base and located on both sides of the guide wire limiting channel. It includes a clamping drive mechanism, an axial delivery drive mechanism, a rotation drive mechanism around the axis, and at least four pairs of friction wheels arranged opposite each other. Each pair of friction wheels includes an active friction wheel and a passive friction wheel. Multiple pairs of friction wheels form a clamping channel. The guide wire passes through each clamping channel, and each pair of friction wheels is arranged at intervals along the axial direction of the guide wire to form a distributed clamping of the guide wire. The control module is electrically connected to the clamping drive mechanism, the axial delivery drive mechanism and the rotation drive mechanism around the axis, respectively, and is used to receive operation commands and output control signals. The motor drive module is electrically connected to the control module, the clamping drive mechanism, the axial delivery drive mechanism, and the rotation drive mechanism, respectively, and is used to receive the control signal and drive the clamping drive mechanism, the axial delivery drive mechanism, and the rotation drive mechanism to operate, respectively. The wireless operation module is communicatively connected to the control module, and is used for the operator to input the operation commands; and The power supply module is electrically connected to the control module, the motor drive module, and the wireless operation module, and is used to provide working power to each circuit component.

[0007] In one possible implementation, the clamping drive mechanism is used to receive a clamping control signal or a release control signal output by the control module, and drive the active friction wheel to move toward or away from the guide wire, so that each pair of friction wheels clamps or releases the guide wire; The axial delivery drive mechanism is used to receive the forward control signal or the backward control signal output by the control module when the guide wire is clamped, and drive each pair of friction wheels to rotate synchronously in the forward or backward direction. The static friction between the friction wheels and the guide wire drives the guide wire to move forward or backward along the guide wire limiting channel. The axial rotation drive mechanism is used to receive the rotation control signal output by the control module when the guide wire is clamped, and drive the active and passive friction wheel module to rotate around the axis of the guide wire, so as to drive the guide wire to rotate around its own axis.

[0008] In one possible implementation, the surface of the friction wheel is provided with an elastic friction layer, which is made of rubber, silicone or polyurethane material, and a plurality of grooves are spaced apart on the outer peripheral surface of the elastic friction layer, the extension direction of the grooves being perpendicular to the movement direction of the guide wire.

[0009] In one possible implementation, the clamping drive mechanism is any one of a lead screw and slider mechanism, an electric slide table, a spring preload mechanism, a cam clamping mechanism, or a pneumatic clamping mechanism; Both the axial delivery drive mechanism and the rotation drive mechanism around the axis are any one of stepper motors, servo motors, brushless DC motors, or linear motors.

[0010] In one possible implementation, the wireless operation module is any one of a PS2 wireless controller, a wired controller, a main joystick, a touch screen, a foot switch, or a force feedback control terminal. The control module can be any one of Arduino UNO microcontroller, STM32 microcontroller, ESP32 microcontroller, PLC or industrial computer.

[0011] Secondly, this application provides a control method for a guide wire delivery device based on friction wheel clamping, applied to the guide wire delivery device based on friction wheel clamping described in any of the above claims, characterized in that it includes: S1, System installation and guide wire loading: Fix the guide wire delivery device to the operating platform, align the guide wire limiting channel with the external guide wire guiding direction, and insert the guide wire to be delivered into the clamping channel between each pair of friction wheels along the guide wire limiting channel. S2, System Initialization: Power on the guide wire delivery device, the control module establishes communication connections with the wireless operation module and the motor drive module respectively, and initializes the initial states and delivery speed levels of the clamping drive mechanism, the axial delivery drive mechanism, and the rotation drive mechanism around the axis. S3, guide wire clamping: The control module receives the clamping command sent by the wireless operation module and outputs a clamping control signal to the clamping drive mechanism. The clamping drive mechanism drives the active friction wheel in each pair of friction wheels to move toward the guide wire until static friction contact is formed between each pair of friction wheels and the guide wire, and the guide wire enters the clamping state. S4, Guide wire axial delivery or retraction: When the guide wire is in the clamped state, the control module receives the forward or backward command sent by the wireless operation module, and outputs a control signal in the corresponding direction to the axial delivery drive mechanism. The axial delivery drive mechanism drives each pair of friction wheels to rotate synchronously in the forward or reverse direction, and uses the tangential static friction between the friction wheels and the guide wire to drive the guide wire to perform forward delivery or retraction along the axial direction. S5, Guide wire rotates around the axis: When the guide wire is in the clamped state, the control module receives the rotation command sent by the wireless operation module and outputs a rotation control signal to the rotation drive mechanism around the axis. The rotation drive mechanism around the axis drives the active and passive friction wheel module to rotate around the axis of the guide wire, so as to drive the guide wire to rotate around its own axis. S6, Delivery speed gear switching: The control module receives the speed switching command sent by the wireless operation module, reads the current speed gear status, and switches the operating speed parameters of the axial delivery drive mechanism between preset high speed parameters and low speed parameters. S7, Delivery-rotation coordinated control: In the same control cycle, when the control module simultaneously receives the forward command or the backward command and the rotation command, the control module adopts a non-blocking control method to calculate the target motion parameters of the axial delivery drive mechanism and the axial rotation drive mechanism respectively, and synchronously outputs the corresponding control signals to the motor drive module so that the guide wire rotates around its own axis while moving along the axial direction. S8, guide wire stop and release: The control module receives a stop command or release command sent by the wireless operation module, and controls the corresponding axial delivery drive mechanism or the axial rotation drive mechanism to stop running according to the stop command, or outputs a release control signal to the clamping drive mechanism according to the release command, driving the active friction wheel away from the guide wire, so that the guide wire enters the release state.

[0012] In one possible implementation, in step S6: The high-speed parameters include the first motor speed or the first pulse output frequency, which are used to control the rapid advance or rapid retraction of the guide wire; The low-speed parameters include the second motor speed or the second pulse output frequency, which are used to control the guide wire to advance or retract slowly. The first motor has a higher speed than the second motor, and the first pulse output frequency is higher than the second pulse output frequency.

[0013] In one possible implementation, the non-blocking control method in step S7 includes: The control program of the control module runs a main loop, continuously reading the input signal of the wireless operation module in each cycle of the main loop, and independently determining whether the forward command, the backward command, the rotation command and the speed switching command exist; When the forward command is detected, the control module determines the forward target speed parameter of the axial delivery drive mechanism based on the current speed gear and sets the direction parameter to forward. When the reverse command is detected, the control module determines the reverse target speed parameter of the axial delivery drive mechanism based on the current speed gear and sets the direction parameter to reverse. When the rotation command is detected, the control module determines the target speed parameter and direction parameter of the rotation drive mechanism based on the intensity of the rotation command. The greater the intensity of the rotation command, the greater the value of the target speed parameter. In each main cycle, the control module simultaneously calls the operation update function of the axial delivery drive mechanism and the rotation drive mechanism. The operation update function compares the current time with the next pulse time of each axis to determine whether the current time meets the condition for sending a pulse. If so, it flips the level of the corresponding pin to output a pulse; otherwise, it returns immediately without taking up extra time. This allows the axial delivery drive mechanism and the rotation drive mechanism to respond to their respective commands simultaneously in the same control cycle without blocking each other. When none of the motion buttons on the wireless operation module are pressed, the control module sets the target speed parameters of the axial delivery drive mechanism and the rotation drive mechanism around the axis to zero, and each drive mechanism locks its current position with holding torque.

[0014] In one possible implementation, the control method also includes security protection steps: During the execution of steps S3 to S7, the control module monitors the system status in real time. When a motor overload signal, a motor stall signal, the actual delivery stroke of the guide wire exceeds the preset maximum delivery stroke, or the actual rotation angle of the guide wire exceeds the preset maximum rotation angle is detected, the control module immediately stops the operation of at least one of the clamping drive mechanism, the axial delivery drive mechanism, and the axial rotation drive mechanism.

[0015] In one possible implementation, step S4 further includes delivery journey control: The control module pre-stores the target delivery distance parameter. During the axial delivery or retraction of the guidewire, the control module acquires the actual movement distance of the guidewire in real time. When the actual movement distance reaches the target delivery distance parameter, the control module automatically outputs a stop control signal to the axial delivery drive mechanism so that the guidewire stops at the current delivery position.

[0016] The technical solution provided in this application can achieve at least the following beneficial effects: This application provides a guidewire delivery device and its control method based on friction wheel clamping. The device structure comprises a mounting base, a guidewire limiting channel, and a module consisting of a clamping drive mechanism, an axial delivery drive mechanism, a rotational drive mechanism, and at least four pairs of opposing friction wheels. The distributed clamping structure, formed by multiple pairs of friction wheels spaced along the guidewire axial direction, ensures uniform support and drive for the guidewire at multiple contact interfaces. This increases the effective contact interface to improve frictional driving force while reducing single-point normal pressure, thereby reducing damage to the guidewire surface coating and the risk of delivery slippage. Furthermore, through the cooperation of the control module, motor drive module, and wireless operation module, the device responds to various operation commands input by the operator via the wireless operation module when the guidewire is clamped, driving the clamping drive mechanism, the axial delivery drive mechanism, and the rotational drive mechanism to operate collaboratively. This integrates clamping, axial delivery, and rotational functions into a single delivery module, using a continuous friction wheel drive method to avoid repeated clamping, releasing, and resetting operations, achieving continuous and stable guidewire delivery and retraction.

[0017] Meanwhile, remote control reduces the operator's direct exposure time in the radiation environment. The control module is designed with preset high-speed and low-speed parameters to achieve dual-speed switching, allowing the system to meet both long-distance rapid advance and precise local control needs. In particular, the control module employs a non-blocking multi-axis collaborative control method, simultaneously responding to axial delivery and rotation commands within the same control cycle. This ensures that the delivery motor and rotation motor operate synchronously without obstruction, achieving delivery-rotation collaborative control where the guidewire rotates around its own axis while moving axially. This simulates the "push + twist" combined technique used by clinicians, improving the guidewire's passage through vascular bends, bifurcation points, and narrow areas. Furthermore, safety protection steps monitor the system status in real time, immediately stopping the corresponding actuator when motor overload, motor stall, delivery stroke exceeding limits, or rotation angle exceeding limits are detected, ensuring system safety.

[0018] This application can effectively reduce local compression damage to the guidewire, achieve continuous and stable delivery of the guidewire and smooth delivery-rotation coordination, improve the safety, stability and precision of guidewire manipulation in vascular interventional surgery, and has the beneficial effects of compact structure, flexible control and high safety. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall structure of a guide wire delivery device based on friction wheel clamping, as shown in an exemplary embodiment of this application; Figure 2 This is a schematic diagram of the device hardware composition shown in an exemplary embodiment of this application; Figure 3 This is a schematic diagram of device hardware connections shown in an exemplary embodiment of this application; Figure 4 This is a schematic diagram illustrating the clamping function in an exemplary embodiment of this application; Figure 5 This is a schematic diagram illustrating the delivery function of an exemplary embodiment of this application; Figure 6 This is a schematic diagram illustrating the rotation function of an exemplary embodiment of this application; Figure 7 This is a schematic flowchart illustrating a control method for a guide wire delivery device based on friction wheel clamping, as shown in an exemplary embodiment of this application. Figure 8 This is a schematic diagram of the main loop flow of the control method shown in an exemplary embodiment of this application; Figure 9 This is a schematic diagram of a simulated blood vessel experimental platform and experimental results shown in an exemplary embodiment of this application.

[0021] Figure label: 1. Mounting base; 2. Guide wire limiting channel; 3. Active and passive friction wheel module; 31. Clamping drive mechanism; 32. Axial delivery drive mechanism; 33. Rotation drive mechanism around the axis; 34. Friction wheel; 4. Control module; 5. Motor drive module; 6. Wireless operation module; 7. Power supply module; 8. Guide wire. Detailed Implementation

[0022] To make the objectives, implementation methods and advantages of this application clearer, the exemplary implementation methods of this application will be clearly and completely described below with reference to the accompanying drawings of the exemplary embodiments of this application. Obviously, the exemplary embodiments described are only some embodiments of this application, and not all embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0023] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0024] The terms "first," "second," "third," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar or related objects or entities, and do not necessarily imply a specific order or sequence, unless otherwise specified. It should be understood that such terms are interchangeable where appropriate.

[0025] The terms “comprising” and “having”, and any variations thereof, are intended to cover but not exclude inclusion, for example, a product or device that includes a range of components is not necessarily limited to all of the components that are clearly listed, but may include other components that are not clearly listed or that are inherent to such product or device.

[0026] Next, the technical solutions of this application and how the technical solutions of this application solve the above-mentioned technical problems will be described in detail through embodiments and in conjunction with the accompanying drawings. The embodiments can be combined with each other. The same or similar concepts or processes may not be described again in some embodiments. Obviously, the described embodiments are some embodiments of the embodiments of this application, but not all embodiments.

[0027] In one exemplary embodiment, such as Figures 1 to 3 As shown, a guide wire 8 delivery device based on friction wheel 34 clamping is provided. In this embodiment, the device may include a mounting base 1, a guide wire 8 limiting channel 2, a main and passive friction wheel 34 module 3, a control module 4, a motor drive module 5, a wireless operation module 6, and a power supply module 7. The guide wire 8 limiting channel 2 is disposed on the mounting base 1 to limit the movement path of the guide wire 8 when it passes through the device; The active and passive friction wheel module 3 is disposed on the mounting base 1 and located on both sides of the guide wire 8 limiting channel 2. It includes a clamping drive mechanism 31, an axial delivery drive mechanism 32, a rotation drive mechanism 33 around the axis, and at least four pairs of friction wheels 34 arranged opposite to each other. Each pair of friction wheels 34 includes an active friction wheel 34 and a passive friction wheel 34. Clamping channels are formed between the multiple pairs of friction wheels 34. The guide wire 8 passes through each clamping channel, and each pair of friction wheels 34 is arranged at intervals along the axial direction of the guide wire 8 to form a distributed clamping of the guide wire 8. The control module 4 is electrically connected to the clamping drive mechanism 31, the axial delivery drive mechanism 32 and the rotation drive mechanism 33 respectively, and is used to receive operation commands and output control signals. The motor drive module 5 is electrically connected to the control module 4, the clamping drive mechanism 31, the axial delivery drive mechanism 32 and the axial rotation drive mechanism 33 respectively, and is used to receive the control signal and drive the clamping drive mechanism 31, the axial delivery drive mechanism 32 and the axial rotation drive mechanism 33 to run respectively; The wireless operation module 6 is communicatively connected to the control module 4, and is used for the operator to input the operation commands; and The power supply module 7 is electrically connected to the control module 4, the motor drive module 5 and the wireless operation module 6, and is used to provide working power to each circuit component.

[0028] In some embodiments, such as Figures 1 to 3 As shown, the specific implementation of the guide wire 8 delivery device based on friction wheel 34 clamping includes mounting base 1, guide wire 8 limiting channel 2, active and passive friction wheel 34 module 3, control module 4, motor drive module 5, wireless operation module 6 and power supply module 7.

[0029] Mounting base 1 is used to support various mechanical components, so that the guide wire 8 channel, friction wheel 34 clamping and delivery module and various drive mechanisms maintain a stable relative position. Mounting base 1 has mounting holes or quick-release interfaces at its bottom for fixing the entire device to the surgical operation platform, experimental platform or interventional robot end execution platform. The upper surface of mounting base 1 has positioning grooves and threaded holes for mounting guide wire 8 limiting channel 2 and active and passive friction wheel 34 module 3.

[0030] The guide wire 8 limiting channel 2 is set on the mounting base 1 to limit the movement path of the guide wire 8 when it passes through the device. The guide wire 8 limiting channel 2 can be a through conduit or composed of multiple spaced guide rings. Its inner diameter is slightly larger than the outer diameter of the guide wire 8 to ensure that the guide wire 8 can slide smoothly in the channel without bending. The inlet and outlet ends of the guide wire 8 limiting channel 2 are respectively provided with chamfered or rounded transition structures to facilitate the introduction and exit of the guide wire 8 and prevent the coating on the surface of the guide wire 8 from being scratched during the insertion process. The central axis of the guide wire 8 limiting channel 2 coincides with the central axis of the clamping channel between each pair of friction wheels 34 to ensure that the guide wire 8 maintains a linear motion state when passing through the clamping area of ​​the friction wheel 34.

[0031] The active and passive friction wheel module 34 is disposed on the mounting base 1 and located on both sides of the guide wire 8 limiting channel 2. Specifically, the guide wire 8 limiting channel 2 is disconnected or has windows at the corresponding positions of the active and passive friction wheel module 34, so that the guide wire 8 is exposed on both sides of the channel, so that the friction wheel 34 can directly contact the surface of the guide wire 8. The active and passive friction wheel module 34 includes a clamping drive mechanism 31, an axial delivery drive mechanism 32, a rotation drive mechanism 33 around the axis, and at least four pairs of friction wheels 34 arranged opposite to each other.

[0032] Multiple pairs of friction wheels 34 form clamping channels, and the guide wire 8 passes through each clamping channel. In this embodiment, the friction wheel 34 clamping and delivery module includes four pairs of opposing friction wheels 34. The four pairs of friction wheels 34 are arranged sequentially at intervals along the axial direction of the guide wire 8. Each pair of friction wheels 34 consists of one active friction wheel 34 and one passive friction wheel 34. The active friction wheel 34 and the passive friction wheel 34 are arranged opposite to each other on both sides of the guide wire 8. In the clamping state, the active friction wheel 34 moves in the direction of the guide wire 8 under the drive of the clamping drive mechanism 31, and clamps the guide wire together with the passive friction wheel 34. 8. Four pairs of friction wheels 34 are arranged at intervals along the axial direction of the guide wire 8 to form a distributed clamping structure. Each pair of friction wheels 34 forms a local clamping point. Multiple clamping points are evenly distributed along the axial direction of the guide wire 8, so that the guide wire 8 is uniformly supported and driven on multiple contact interfaces. This distributed clamping structure can increase the effective contact interface between the guide wire 8 and the driving mechanism, so that the friction driving force required for delivery is borne by multiple contact points. This reduces the normal pressure of a single contact point while ensuring the stability of clamping and delivery, and reduces the possibility of damage to the surface coating of the guide wire 8 and delivery slippage.

[0033] Regarding the number of friction wheels 34, in addition to four pairs, two, three or more pairs of friction wheels 34 can also be used. The selection of the number of friction wheels 34 mainly depends on the diameter of the guide wire 8, the required driving force, and the installation space of the mechanism. The more friction wheels 34 there are, the more clamping points and driving points there are, and the more uniform the force on the guide wire 8 is. However, the complexity of the mechanism also increases accordingly. For guide wires 8 of different diameters, friction wheels 34 of different specifications can be replaced to make the elastic friction layer better fit the surface of the guide wire 8.

[0034] Regarding the arrangement of friction wheels 34, in addition to the axially spaced arrangement, a circumferential clamping arrangement or a combination of axial spacing and circumferential arrangement can also be adopted. The circumferential clamping arrangement can apply clamping force from multiple directions at the same axial position of the guide wire 8, which helps to improve the centering accuracy and rotational coaxiality of the guide wire 8.

[0035] The control module 4 is electrically connected to the clamping drive mechanism 31, the axial delivery drive mechanism 32, and the rotation drive mechanism 33, respectively. It is used to receive operation commands and output control signals. The control module 4 is the control core of the system. It is responsible for parsing the various commands input by the operator through the wireless operation module 6 and converting them into drive control signals for each actuator. The control module 4 can be implemented using a microcontroller, embedded controller, programmable logic controller, or industrial control computer.

[0036] The motor drive module 5 is electrically connected to the control module 4, the clamping drive mechanism 31, the axial delivery drive mechanism 32, and the rotation drive mechanism 33, respectively. It is used to receive control signals and drive the clamping drive mechanism 31, the axial delivery drive mechanism 32, and the rotation drive mechanism 33, respectively. The motor drive module 5 includes multiple motor drivers, each corresponding to an actuator motor. According to the control signals output by the control module 4, the motor drive module 5 converts the electrical energy provided by the power supply module 7 into drive current and drive voltage suitable for the operation of each actuator motor, so as to achieve precise control of the motor speed, direction, and rotation angle. Preferably, when the actuator motor is a stepper motor, the motor drive module 5 can use stepper motor drivers such as A4988 and DRV8825; when the actuator motor is a DC motor, the motor drive module 5 can use DC motor driver chips such as L298N and TB6612.

[0037] The wireless operation module 6 is communicatively connected to the control module 4 and is used for the operator to input operation commands. The wireless operation module 6 includes a wireless transmitter and a wireless receiver. The wireless transmitter is handheld by the operator and has multiple operation buttons or joysticks for inputting control commands such as clamping, releasing, forward, backward, clockwise rotation, counterclockwise rotation, speed switching, and stopping. The wireless receiver is electrically connected to the control module 4 and is used to receive the operation commands sent by the wireless transmitter and transmit them to the control module 4. The wireless operation module 6 can use Bluetooth, WiFi, ZigBee, or 2.4G wireless communication protocols to achieve data transmission. The 2.4G wireless communication protocol is preferred to ensure the real-time performance and anti-interference capability of data transmission.

[0038] The power supply module 7 is electrically connected to the control module 4, the motor drive module 5, and the wireless operation module 6, and is used to provide working power for each circuit component. The power supply module 7 can be a rechargeable lithium battery pack, a dry battery pack, or an external DC power adapter. The power supply module 7 preferably uses a rechargeable lithium battery pack to provide a stable DC output voltage and meet the portability requirements of the system. The power supply module 7 may also include a voltage conversion circuit to convert the battery voltage into power supplies of different voltage levels to meet the different power supply requirements of the control module 4, the motor drive module 5, and the wireless operation module 6. For example, it can convert the 12V battery voltage to 5V for use by the control module 4 and the wireless operation module 6, and directly power the motor drive module 5 with the 12V.

[0039] In some embodiments, the clamping drive mechanism 31 is used to receive the clamping control signal or release control signal output by the control module 4, and drive the active friction wheel 34 to move toward or away from the guide wire 8, so that each pair of friction wheels 34 clamps or releases the guide wire 8.

[0040] In this embodiment, as Figure 4As shown, the clamping drive mechanism 31 adopts an X-axis electric slide table. The X-axis electric slide table includes an X-axis slide table base, an X-axis sliding component, an X-axis drive motor, and an X-axis transmission mechanism. The X-axis slide table base is fixed on the mounting base 1 and has a guide rail extending in a direction parallel to the axial direction of the guide wire 8. The X-axis sliding component is slidably mounted on the guide rail. The active friction wheel 34 is mounted on the X-axis sliding component. The X-axis drive motor is fixed to one end of the X-axis slide table base, and its output shaft is connected to the X-axis sliding component through the X-axis transmission mechanism (preferably a lead screw and nut transmission pair).

[0041] When the control module 4 outputs a clamping control signal, the X-axis drive motor rotates in the forward direction, driving the X-axis sliding component to slide along the guide rail towards the guide wire 8 via the lead screw and nut transmission pair. The active friction wheel 34 mounted on the X-axis sliding component moves towards the passive friction wheel 34 until it contacts the surface of the guide wire 8 and applies a preset normal clamping force. During this process, the X-axis sliding component moves in a direction parallel to the axial direction of the guide wire 8. However, due to the wedge-shaped squeezing effect formed between the contact surface between the active friction wheel 34 and the surface of the guide wire 8 during clamping, the normal pressure applied by the active friction wheel 34 to the guide wire 8 is actually perpendicular to the surface of the guide wire 8, thus achieving the clamping function. When the control module 4 outputs a release control signal, the X-axis drive motor rotates in the reverse direction, the X-axis sliding component slides along the guide rail away from the guide wire 8, the active friction wheel 34 leaves the guide wire 8, and the clamping state is released.

[0042] Using an X-axis electric slide as the clamping drive mechanism 31 has the following advantages: First, the sliding direction of the X-axis electric slide is parallel to the axis of the guide wire 8, which facilitates providing a larger axial clearance space when the guide wire 8 is loaded, making the insertion of the guide wire 8 smoother. Secondly, the X-axis electric slide can maintain a clamped state after power failure through the self-locking characteristic of the lead screw nut, ensuring that the guide wire 8 remains clamped during delivery and rotation, thus improving the safety of the system. Third, the X-axis electric slide has a compact structure and is easy to integrate with the axial delivery drive mechanism 32 on the same mounting base 1.

[0043] In other embodiments, the clamping drive mechanism 31 may also take the form of a screw-slider mechanism, a spring preload mechanism, a cam clamping mechanism, or a pneumatic clamping mechanism. For a screw-slider mechanism, it includes a clamping motor, a screw, a slider, and a guide rail. The clamping motor is fixed to the mounting base 1, the slider is sleeved on the screw and threaded onto the screw, and the active friction wheel 34 is mounted on the slider. The linear motion of the slider is achieved by driving the screw to rotate through the clamping motor. For a spring preload mechanism, a preset normal clamping force can be provided by the elastic force of the spring, and the clamping force can be adjusted by controlling the compression of the spring through an electromagnet or a stepper motor. For a pneumatic clamping mechanism, the active friction wheel 34 can be moved by a cylinder, and the clamping force can be controlled by adjusting the air pressure of the cylinder.

[0044] The magnitude of the preset normal clamping force is determined comprehensively based on factors such as the diameter of the guide wire 8, the surface material, the friction coefficient of the friction wheel 34, and the required delivery driving force. Preferably, the preset normal clamping force is set such that the maximum static friction between the friction wheel 34 and the guide wire 8 is greater than 1.2 to 1.5 times the maximum driving force required for guide wire 8 delivery, to ensure that the guide wire 8 does not slip during delivery. At the same time, the preset normal clamping force should not be too large to avoid causing indentations or damage to the surface of the guide wire 8.

[0045] The axial delivery drive mechanism 32 is used to receive the forward control signal or the backward control signal output by the control module 4 when the guide wire 8 is clamped, and drive each pair of friction wheels 34 to rotate synchronously in the forward or backward direction. The static friction between the friction wheels 34 and the guide wire 8 drives the guide wire 8 to move forward or backward along the guide wire 8 limiting channel 2.

[0046] In this embodiment, as Figure 5 As shown, the axial delivery drive mechanism 32 uses a stepper motor. The output shaft of the stepper motor is connected to each active friction wheel 34 through a transmission mechanism. When the control module 4 outputs a forward control signal, the stepper motor rotates in the forward direction, driving each active friction wheel 34 to rotate synchronously in the forward direction through the transmission mechanism. When the active friction wheel 34 rotates in the forward direction, a tangential static friction force is generated at the contact point between its surface and the surface of the guide wire 8 along the forward direction of the guide wire 8. This static friction force drives the guide wire 8 to move forward along the axial direction. Since each pair of friction wheels 34 is arranged at intervals along the axial direction of the guide wire 8, each active friction wheel 34 rotates synchronously in the forward direction, applying a forward driving force to the guide wire 8 at multiple contact points simultaneously, so that the guide wire 8 can be delivered forward smoothly and continuously. When the control module 4 outputs a backward control signal, the stepper motor rotates in the reverse direction, driving each active friction wheel 34 to rotate synchronously in the reverse direction, generating a tangential static friction force along the backward direction of the guide wire 8, driving the guide wire 8 to retract axially.

[0047] In other embodiments, the axial delivery drive mechanism 32 may also be in the form of a servo motor, a brushless DC motor, or a linear motor. When a servo motor is used, closed-loop control can be achieved through an encoder to improve delivery accuracy. When a linear motor is used, the friction wheel 34 can be directly driven to rotate, reducing intermediate transmission links and improving response speed.

[0048] The synchronicity of the rotation of each active friction wheel 34 is crucial for the smooth delivery of the guide wire 8. In this embodiment, each active friction wheel 34 is connected to the same delivery motor through the same transmission mechanism to ensure that the rotation speed and rotation direction of each active friction wheel 34 are completely consistent. In other embodiments, each active friction wheel 34 can also be connected to an independent delivery motor, and the control module 4 outputs a synchronous control signal to make each delivery motor run synchronously.

[0049] The axial rotation drive mechanism 33 is used to receive the rotation control signal output by the control module 4 when the guide wire 8 is clamped, and drive the active and passive friction wheel module 34 to rotate around the axis of the guide wire 8, so as to drive the guide wire 8 to rotate around its own axis.

[0050] In this embodiment, as Figure 6 As shown, the rotation drive mechanism 33 around the axis adopts a Z-axis electric slide table. The Z-axis electric slide table includes a Z-axis slide table base, a Z-axis sliding component, a Z-axis drive motor, and a Z-axis transmission mechanism. The Z-axis slide table base is fixed on the mounting base 1, and a guide rail extending in a direction perpendicular to the axial direction of the guide wire 8 is provided on it. The Z-axis sliding component is slidably mounted on the guide rail. The active and passive friction wheel module 34 is integrally mounted on the Z-axis sliding component. The Z-axis drive motor is fixed to one end of the Z-axis slide table base, and its output shaft is connected to the Z-axis sliding component through the Z-axis transmission mechanism.

[0051] In this embodiment, the active and passive friction wheel module 34 is mounted on the Z-axis sliding component via a rotating bracket, which can rotate freely around the axis of the guide wire 8.

[0052] When the control module 4 outputs a clockwise rotation control signal, the Z-axis drive motor rotates in the forward direction, driving the Z-axis sliding component to slide in a direction perpendicular to the axis of the guide wire 8 through the lead screw and nut transmission pair. The linear motion of the Z-axis sliding component is converted into rotational motion around the axis of the guide wire 8 by the rotating bracket mounted on it.

[0053] Specifically, the rotating bracket and the Z-axis sliding component are connected by an arc-shaped guide groove or a linkage mechanism, so that the linear displacement of the Z-axis sliding component corresponds to the angular displacement of the rotating bracket around the axis of the guide wire 8. As the Z-axis sliding component slides, the rotating bracket and the active and passive friction wheel 34 module 3 mounted on it rotate as a whole around the axis of the guide wire 8. Since the guide wire 8 is clamped by each pair of friction wheels 34, the rotation of the active and passive friction wheel 34 module 3 drives the guide wire 8 to rotate around its own axis. Similarly, when the control module 4 outputs a counterclockwise rotation control signal, the Z-axis drive motor rotates in the opposite direction, driving the guide wire 8 to rotate counterclockwise around its own axis.

[0054] Using a Z-axis electric slide as the rotation drive mechanism 33 has the following advantages: First, it converts rotational motion into linear motion, and achieves high-precision adjustment of the rotation angle through precise control of linear motion; Secondly, the lead screw and nut transmission pair of the Z-axis electric slide has a self-locking characteristic, which can maintain the current rotation angle after power failure and prevent the guide wire 8 from rotating unexpectedly; Third, it has a compact structure and shares the same type of slide components as the X-axis electric slide, which facilitates modular production and maintenance.

[0055] In other embodiments, the axial rotation drive mechanism 33 may also take the form of a hollow rotating platform, a rotating cylinder, or a worm gear rotating mechanism. Regardless of the form, the axial rotation drive mechanism 33 should ensure that the active and passive friction wheel 34 module 3 can rotate smoothly around the axis of the guide wire 8, and the rotation angle can be precisely controlled.

[0056] For a medical guidewire 8 with a pre-bent tip, rotation around the axis can change the orientation of the distal tip of the guidewire 8. In areas of vascular bifurcation, curvature, or stenosis, the operator can rotate the guidewire 8 to point the pre-bent tip toward the target branch vessel, thereby obtaining better directional selection and path passage capabilities.

[0057] In some embodiments, the surface of the friction wheel 34 is provided with an elastic friction layer, which is made of rubber, silicone or polyurethane material. The elastic friction layer is disposed on the outer peripheral surface of the friction wheel 34 for direct contact with the surface of the guide wire 8 and to provide a suitable coefficient of friction and elastic buffer.

[0058] In this embodiment, the elastic friction layer is preferably made of medical-grade silicone material. Medical-grade silicone has good biocompatibility, suitable elasticity and high coefficient of friction, which can provide stable static friction when in contact with the surface of the guidewire 8. At the same time, it has good flexibility and can adapt to the clamping requirements of guidewires 8 of different diameters.

[0059] Multiple grooves are spaced apart on the outer peripheral surface of the elastic friction layer. The extension direction of the grooves is perpendicular to the movement direction of the guide wire 8. Specifically, the grooves extend circumferentially along the friction wheel 34, that is, the extension direction of the grooves is parallel to the axial direction of the friction wheel 34 and perpendicular to the movement direction of the guide wire 8. The multiple grooves are evenly spaced along the axial direction of the friction wheel 34.

[0060] The grooves have the following beneficial effects: First, the grooves can increase the surface roughness of the elastic friction layer, improve the friction coefficient between the friction wheel 34 and the guide wire 8, and thus obtain a greater friction driving force under the same normal clamping force. Second, the grooves can accommodate small particles or liquids that may be carried on the surface of the guide wire 8 under clamping conditions, and prevent these impurities from affecting the contact stability between the friction wheel 34 and the guide wire 8. Third, the grooves can provide deformation space when the elastic friction layer is squeezed, so that the elastic friction layer can better conform to the surface shape of the guide wire 8, increase the effective contact area, and further reduce local pressure.

[0061] In some embodiments, the wireless operation module 6 is any one of a PS2 wireless controller, a wired controller, a main joystick, a touch screen, a foot switch, or a force feedback control terminal.

[0062] In this embodiment, the wireless operation module 6 preferably uses a PS2 wireless controller. The PS2 wireless controller has the advantages of reasonable button layout, intuitive operation, and stable communication. The PS2 wireless controller is equipped with directional keys, action buttons, and joysticks, which can correspond to control commands such as forward, backward, clockwise rotation, counterclockwise rotation, clamping, releasing, speed switching, and stopping of the guide wire 8, respectively. Specifically, the up and down directions of the left joystick of the PS2 wireless controller can be mapped to forward and backward commands, the left and right directions of the right joystick can be mapped to clockwise and counterclockwise rotation commands, the up button of the directional keys can be mapped to speed switching commands, the R1 button of the action buttons can be mapped to clamping commands, and the R2 button can be mapped to release commands. This mapping method conforms to the intuitive operating habits of the operator and is easy to use.

[0063] The PS2 wireless controller uses a 2.4G wireless communication protocol with a communication distance of over 10 meters, which can meet the needs of remote control. The wireless receiver connects to the control module 4 via a USB interface or a serial interface, converting the controller button status into digital signals that the control module 4 can recognize.

[0064] In other embodiments, the wireless operation module 6 may also take the following forms: Wired handle: Connects to control module 4 via a wired connection. It has the advantages of stable signal and no need for battery power, making it suitable for scenarios with extremely high requirements for communication reliability.

[0065] Main joystick: Adopting an industrial-grade joystick, it has multi-degree-of-freedom operation capability and can output multiple control signals simultaneously, making it suitable for scenarios that require simultaneous control of multiple motion degrees of freedom.

[0066] Touchscreen: Control commands are input via virtual buttons or sliders on the touchscreen. It has the advantages of a flexible and customizable user interface and is suitable for scenarios that require displaying real-time motion parameters and feedback information.

[0067] Foot switch: Control commands are input via foot pedal, suitable for scenarios where the operator needs to perform other operations with both hands simultaneously.

[0068] Force feedback operating end: A force feedback mechanism is set at the operating end to feed back the resistance experienced by the guidewire 8 in the blood vessel to the operator, so that the operator can "sense" the status of the guidewire 8, thereby improving the safety and immersion of the operation.

[0069] Control module 4 can be any one of Arduino UNO microcontroller, STM32 microcontroller, ESP32 microcontroller, PLC or industrial computer.

[0070] In this embodiment, the control module 4 preferably uses an Arduino UNO microcontroller. The Arduino UNO microcontroller is based on the ATmega328P microcontroller and has the advantages of a simple development environment, open source code, and rich peripheral libraries, making it suitable for rapid prototyping and experimental verification. The Arduino UNO microcontroller has 14 digital input / output pins and 6 analog input pins, which can meet the input requirements of multiple control signals and feedback signals of the clamping drive mechanism 31, the axial delivery drive mechanism 32, and the rotation drive mechanism 33. The clock frequency of the Arduino UNO microcontroller is 16MHz, and its computing speed can meet the real-time requirements of non-blocking multi-axis collaborative control.

[0071] In other embodiments, the control module 4 may also take the following forms: STM32 microcontrollers: Based on the ARM Cortex-M core, they have the advantages of fast computing speed, rich peripherals, and low power consumption. They are suitable for scenarios with high control performance requirements. The preferred choice is the STM32F103 series or STM32F407 series, whose clock frequency can reach 72MHz to 168MHz, and can support more complex control algorithms and higher control frequencies.

[0072] The ESP32 microcontroller integrates WiFi and Bluetooth dual-mode communication functions. In addition to serving as a control core, it can also directly realize wireless communication functions, reducing the number of external communication modules. It is suitable for scenarios that require network connectivity or IoT functions.

[0073] PLC (Programmable Logic Controller): It has the advantages of high reliability, strong anti-interference ability and intuitive programming, and is suitable for medical device productization scenarios with extremely high requirements for system stability and reliability.

[0074] Industrial PCs: They have the advantages of strong computing power and the ability to run complex operating systems and algorithms, and are suitable for scenarios that require advanced control algorithms, image processing or artificial intelligence-assisted control.

[0075] Corresponding to the aforementioned embodiment of the guide wire 8 delivery device based on friction wheel 34 clamping, this application also provides an embodiment of a control method for the guide wire 8 delivery device based on friction wheel 34 clamping.

[0076] In one exemplary embodiment, such as Figure 7 As shown, the control method for the guide wire 8 delivery device based on the friction wheel 34 clamping can include the following steps: S1, System installation and guide wire 8 loading: Fix the guide wire 8 delivery device to the operating platform, align the guide wire 8 limiting channel 2 with the external guide wire 8 guide direction, and insert the guide wire 8 to be delivered into the clamping channel between each pair of friction wheels 34 along the guide wire 8 limiting channel 2. S2, System initialization: Power on the guide wire 8 delivery device, the control module 4 establishes communication connections with the wireless operation module 6 and the motor drive module 5 respectively, and initializes the initial state and delivery speed settings of the clamping drive mechanism 31, the axial delivery drive mechanism 32, and the rotation drive mechanism 33 around the axis. S3, guide wire 8 clamping: control module 4 receives clamping command sent by wireless operation module 6, outputs clamping control signal to clamping drive mechanism 31, clamping drive mechanism 31 drives active friction wheel 34 in each pair of friction wheels 34 to move guide wire 8 until static friction contact is formed between each pair of friction wheels 34 and guide wire 8, and guide wire 8 enters clamping state. S4, Axial delivery or retraction of guide wire 8: When guide wire 8 is in the clamped state, control module 4 receives forward or backward command sent by wireless operation module 6, and outputs control signal in the corresponding direction to axial delivery drive mechanism 32. Axial delivery drive mechanism 32 drives each pair of friction wheels 34 to rotate synchronously in the forward or reverse direction. The tangential static friction between friction wheels 34 and guide wire 8 drives guide wire 8 to perform forward delivery or retraction along the axial direction. S5, guide wire 8 rotates around the axis: When guide wire 8 is in the clamped state, control module 4 receives the rotation command sent by wireless operation module 6 and outputs a rotation control signal to the axis rotation drive mechanism 33. The axis rotation drive mechanism 33 drives the main and passive friction wheel 34 module 3 to rotate around the axis of guide wire 8, so as to drive guide wire 8 to rotate around its own axis. S6, Delivery speed gear switching: The control module 4 receives the speed switching command sent by the wireless operation module 6, reads the current speed gear status, and switches the running speed parameters of the axial delivery drive mechanism 32 between the preset high speed parameters and low speed parameters. S7, Delivery-rotation coordinated control: In the same control cycle, when the control module 4 receives a forward or backward command and a rotation command at the same time, the control module 4 adopts a non-blocking control method to calculate the target motion parameters of the axial delivery drive mechanism 32 and the axial rotation drive mechanism 33 respectively, and synchronously outputs the corresponding control signals to the motor drive module 5 so that the guide wire 8 rotates around its own axis while moving along the axial direction. S8, guide wire 8 stops and releases: The control module 4 receives the stop command or release command sent by the wireless operation module 6, and controls the corresponding axial delivery drive mechanism 32 or the axial rotation drive mechanism 33 to stop running according to the stop command, or outputs a release control signal to the clamping drive mechanism 31 according to the release command, driving the active friction wheel 34 away from the guide wire 8, so that the guide wire 8 enters the release state.

[0077] In some embodiments, such as Figure 8 As shown, the specific implementation process of the control method for the guide wire 8 delivery device based on the friction wheel 34 clamping is as follows: S1, System Installation and Guidewire 8 Loading: The operator first secures the guidewire 8 delivery device to the surgical platform, experimental platform, or interventional robot slave execution platform through the mounting holes or quick-release interface on the mounting base 1. During securing, it is crucial to ensure that the central axis of the guidewire 8 limiting channel 2 is aligned with the guidewire 8's insertion direction to prevent bending or twisting of the guidewire 8 upon entry into the device. Subsequently, the operator holds the proximal end of the guidewire 8 and inserts the distal end along the entrance end of the guidewire 8 limiting channel 2, allowing the guidewire 8 to pass sequentially through the clamping channels between each pair of friction wheels 34 and exit from the exit end of the guidewire 8 limiting channel 2. During loading, the clamping drive mechanism 31 is in a released state, maintaining a certain gap between the active friction wheel 34 and the passive friction wheel 34 in each pair of friction wheels 34. This gap is slightly larger than the diameter of the guidewire 8, facilitating smooth insertion and position adjustment of the guidewire 8. After loading, the operator can adjust the length of the guidewire 8 extending beyond the device's exit end as needed to adapt to different surgical requirements.

[0078] S2, System Initialization: The operator turns on the power switch of the power supply module 7, energizing all circuit components of the system. After powering on, the control module 4 first executes its internal initialization program, including clock initialization, pin initialization, and variable initialization. Subsequently, the control module 4 establishes a communication connection with the wireless transmitter of the wireless operation module 6 through the wireless receiver, confirming the normal operation of the communication link through a handshake protocol. The control module 4 establishes a connection with each actuator motor through the motor drive module 5, confirming that each motor driver is working properly. The control module 4 reads the initial state of each sensor, including the position sensor of the clamping drive mechanism 31 and limit switches, to confirm that each mechanism is in its initial position. The control module 4 initially sets the delivery speed to low speed to prevent the guide wire 8 from suddenly moving at high speed after the system starts, which could cause safety risks. After initialization, the control module 4 sends a prompt signal through the wireless operation module 6 to inform the operator that the system is ready and enters a cyclic detection state, continuously reading the clamping, releasing, forward, backward, rotation, speed change, and stop commands input by the operator.

[0079] S3, guidewire 8 clamped: The operator inputs a clamping command through the wireless operation module 6. The wireless transmitter encodes the clamping command and sends it to the wireless receiver via a 2.4G wireless signal. The wireless receiver decodes the command and transmits it to the control module 4. After parsing the clamping command, the control module 4 outputs a clamping control signal to the clamping motor of the clamping drive mechanism 31. The clamping motor rotates forward, driving the lead screw to rotate. The slider moves along the lead screw towards the guide wire 8. The active friction wheel 34 mounted on the slider moves towards the passive friction wheel 34. As the active friction wheel 34 gradually approaches the guide wire 8, the elastic friction layer on the surface of the active friction wheel 34 first contacts the surface of the guide wire 8 and applies a gradually increasing normal pressure to the guide wire 8 under the continuous drive of the clamping motor. When the normal pressure reaches a preset value, a stable static friction contact is formed between the elastic friction layer of each pair of friction wheels 34 and the surface of the guide wire 8, and the guide wire 8 is reliably clamped.

[0080] In this embodiment, the control module 4 determines whether the clamping force has reached the preset value by monitoring the drive current of the clamping motor. When the drive current of the clamping motor reaches the preset threshold, it indicates that the clamping force has reached the set value. The control module 4 stops the output of the clamping motor and maintains the current clamping state. In other embodiments, the clamping force can also be precisely controlled by setting a pressure sensor to directly detect the magnitude of the clamping force, or by setting a limit switch to detect the movement position of the active friction wheel 34. After the guide wire 8 enters the clamping state, the system is in a deliverable and rotatable state and can respond to the operator's input of forward, backward or rotation commands at any time.

[0081] S4, guidewire 8-axis delivery or retraction: The operator inputs a forward command via the wireless operation module 6. After receiving the forward command, the control module 4 calculates the target speed of the delivery motor based on the current speed setting and outputs a pulse signal of the corresponding frequency to the delivery motor. The delivery motor rotates forward, driving each active friction wheel 34 to rotate synchronously forward through the transmission mechanism. When the active friction wheel 34 rotates, the elastic friction layer on its surface generates tangential static friction at the contact point with the surface of the guide wire 8. Since the active friction wheel 34 rotates forward, the direction of this tangential static friction is along the forward direction of the guide wire 8, driving the guide wire 8 to move forward along the guide wire 8 limiting channel 2. Each pair of friction wheels 34 is arranged at intervals along the axial direction of the guide wire 8. Each active friction wheel 34 rotates synchronously forward, simultaneously applying a forward driving force to the guide wire 8 at multiple contact points, so that the guide wire 8 can achieve smooth and continuous forward delivery. The delivery speed is determined by the speed of the delivery motor. The higher the speed, the faster the delivery speed; the lower the speed, the slower the delivery speed. The delivery distance is determined by the number of rotations of the delivery motor. The more rotations, the longer the delivery distance.

[0082] When the operator inputs a reverse command, the control module 4 outputs a reverse control signal to the delivery motor, causing the delivery motor to rotate in the reverse direction, which in turn drives each active friction wheel 34 to rotate in the reverse direction synchronously. When the active friction wheel 34 rotates in the reverse direction, the tangential static friction force between it and the surface of the guide wire 8 is in the direction of the guide wire 8's retraction, driving the guide wire 8 to retract backward along the guide wire 8 limit channel 2.

[0083] Since some embodiments of this application use a continuous drive method of friction wheel 34, the axial movement of guide wire 8 does not need to repeatedly perform clamping, releasing and resetting actions. Therefore, it can achieve continuous and smooth forward and backward movement, avoiding the problems of discontinuous movement and damage to the surface of guide wire 8 caused by frequent clamping and releasing in traditional reciprocating clamping and delivery mechanisms.

[0084] S5, guidewire 8 rotates around the axis: The operator inputs a clockwise or counterclockwise rotation command through the wireless operation module 6. After receiving the rotation command, the control module 4 outputs a control signal in the corresponding direction to the rotary motor. The rotary motor rotates in the forward or reverse direction, driving the slewing support to rotate through the transmission mechanism. The rotary bracket and the active and passive friction wheel 34 module 3 mounted on it rotate as a whole around the axis of the guide wire 8. Since the guide wire 8 is clamped by each pair of friction wheels 34, the rotational motion of the active and passive friction wheel 34 module 3 is transmitted to the guide wire 8 through the static friction between the friction wheels 34 and the guide wire 8, causing the guide wire 8 to rotate synchronously around its own axis. The rotation angle is determined by the rotation angle of the rotary motor, and the rotation speed is determined by the rotation speed of the rotary motor.

[0085] For a medical guidewire 8 with a pre-bent tip, rotation around the axis can change the orientation of the distal tip of the guidewire 8. At a vascular bifurcation, the operator can rotate the guidewire 8 to make its pre-bent tip point towards the opening of the target branch vessel. In a curved segment of the vessel, the operator can rotate the guidewire 8 to make the pre-bent tip conform to the direction of the vessel curvature, reducing the risk of the guidewire 8 penetrating the vessel wall. In a narrow region, the operator can rotate the guidewire 8 to make the pre-bent tip pass through the narrow area at the optimal angle. The rotation action can be performed alone or simultaneously with the axial delivery action.

[0086] S6, delivery speed setting switch: The operator inputs a speed switching command through the wireless operation module 6. After receiving the speed switching command, the control module 4 reads the current speed gear status indicator stored in its internal memory. If the current speed is low, it switches to high speed and updates the speed parameters of the delivery motor to the high speed parameters; if the current speed is high, it switches to low speed and updates the speed parameters of the delivery motor to the low speed parameters. After the gear switching is completed, the control module 4 sends a prompt signal through the wireless operation module 6 to inform the operator of the current speed gear.

[0087] The specific values ​​of the high-speed and low-speed parameters can be adjusted according to actual surgical needs and the type of guidewire 8. In this embodiment, the high-speed parameter corresponds to a maximum motor speed of 300 rpm, and a guidewire 8 delivery speed of approximately 60 mm / s; the low-speed parameter corresponds to a maximum motor speed of 50 rpm, and a guidewire 8 delivery speed of approximately 10 mm / s. In other embodiments of the present invention, more speed levels can be set to meet more precise speed grading requirements.

[0088] The speed setting switching function allows the system to balance guidewire 8 delivery efficiency and precision control requirements: when guidewire 8 needs to be advanced quickly over a long distance, the operator switches to the high-speed setting to improve delivery efficiency and shorten operation time; when guidewire 8 approaches the target area, enters a blood vessel bifurcation, passes through a stenotic segment, or requires precise positioning, the operator switches to the low-speed setting to improve delivery resolution and reduce operational risks.

[0089] S7, Delivery-Rotation Coordinated Control: When the operator needs to perform a "push + twist" compound action, two control inputs can be operated simultaneously. The control module 4 detects that the forward command and the rotation command exist simultaneously in the same cycle of the main cycle. At this time, the control module 4 calculates the target motion parameters of the delivery motor and the rotation motor respectively: the target speed of the delivery motor is determined according to the current speed gear, and the target speed of the rotation motor is determined by the intensity of the rotation command input by the operator. The control module 4 writes the two sets of target motion parameters calculated into the control registers of the delivery motor and the rotation motor respectively, and outputs the corresponding control signals to the motor drive module 5 at the same time. The delivery motor and the rotation motor respond synchronously to the control signals, and the guide wire 8 rotates around its own axis while advancing or retracting along the axial direction.

[0090] This collaborative control method enables the axial and rotational movements of guidewire 8 to start, run, and stop simultaneously within the same control cycle, achieving a true "pushing + twisting" compound action. This action simulates the compound techniques commonly used by clinicians in manual operation, allowing guidewire 8 to continuously adjust the direction of its distal tip during advancement, thereby improving its ability to pass through vascular bends, bifurcations, and constrained channels.

[0091] S8, guidewire 8 stop and release: When the operator needs to stop the axial movement of the guide wire 8, they release the control button for forward or backward movement. After the control module 4 detects that the forward or backward command has disappeared, it outputs a stop control signal to the delivery motor. The delivery motor decelerates and stops according to the preset deceleration parameters to avoid impact caused by the sudden stop of the guide wire 8. Similarly, when the operator needs to stop the rotational movement of the guide wire 8, they release the control button for rotation. The control module 4 outputs a stop control signal to the rotation motor, and the rotation motor decelerates and stops.

[0092] When the operator needs to release the guide wire 8, the operator inputs a release command through the wireless operation module 6. After receiving the release command, the control module 4 outputs a release control signal to the clamping drive mechanism 31. The clamping motor rotates in the opposite direction, and the slider moves away from the guide wire 8 along the lead screw. The active friction wheel 34 leaves the guide wire 8, and the gap between each pair of friction wheels 34 increases to a state greater than the diameter of the guide wire 8. The guide wire 8 is released from clamping. At this time, the operator can manually adjust the position of the guide wire 8, remove the guide wire 8 from the device, or replace it with a new guide wire 8.

[0093] In some embodiments, the axial delivery drive mechanism 32 adopts a stepper motor. The control module 4 controls the speed and rotation angle of the stepper motor by outputting pulse signals. The speed of the stepper motor is proportional to the pulse output frequency, and the rotation angle of the stepper motor is proportional to the number of pulses. Therefore, the switching of the speed level is essentially the switching of the pulse output frequency.

[0094] Specifically, the control module 4 internally stores two sets of speed parameters. The high-speed parameters include a first pulse output frequency, preferably 1000Hz to 2000Hz, corresponding to a stepper motor speed of 100 rpm to 200 rpm and a guide wire 8 delivery speed of 20 mm / s to 40 mm / s. The low-speed parameters include a second pulse output frequency, preferably 200Hz to 500Hz, corresponding to a stepper motor speed of 20 rpm to 50 rpm and a guide wire 8 delivery speed of 4 mm / s to 10 mm / s. The first pulse output frequency is 3 to 5 times that of the second pulse output frequency, making the delivery speed of the high-speed mode significantly higher than that of the low-speed mode.

[0095] In other embodiments, when the axial delivery drive mechanism 32 adopts a servo motor or a brushless DC motor, the speed gear switching is essentially a switching of the motor speed command value. The high speed parameter includes a first motor speed command value, and the low speed parameter includes a second motor speed command value. The target speed corresponding to the first motor speed command value is greater than the target speed corresponding to the second motor speed command value.

[0096] In addition, the control module 4 can set different acceleration parameters for high speed and low speed. The acceleration parameter of high speed is larger, which enables the guidewire 8 to start and stop quickly and meet the needs of rapid adjustment. The acceleration parameter of low speed is smaller, which makes the start and stop process of guidewire 8 smoother and meets the needs of precise operation. By setting the speed parameter and acceleration parameter respectively, the system can provide different motion characteristics at different speeds and better adapt to the operational needs of different surgical stages.

[0097] In some embodiments, the specific implementation of the non-blocking control method includes: 1. Main loop architecture: The control program of the control module 4 runs a main loop, continuously reading the input signal of the wireless operation module 6 in each cycle of the main loop, and independently determining whether the forward command, the backward command, the rotation command, and the speed switching command exist.

[0098] In this embodiment, the program of control module 4 is developed using the Arduino IDE, written in C / C++, and imports the AccelStepper stepper motor control library to achieve multi-axis non-blocking parallel control. The main loop of the program is executed in an infinite loop, and the time of each loop cycle is determined by the program execution time, preferably controlled between 10ms and 50ms to ensure the real-time response of the system.

[0099] At the beginning of each main cycle, the control module 4 first reads the current operation status data packet sent by the wireless operation module 6 through the wireless receiver. This data packet contains the operation status information of the operator on each operation button and joystick, such as whether the forward command exists, whether the backward command exists, the direction and intensity of the rotation command, whether the speed change command is triggered, whether the clamping command exists, and whether the release command exists. After parsing the data packet, the control module 4 stores each operation status in the corresponding status variable.

[0100] Subsequently, control module 4 independently judges the values ​​of each state variable to determine which operation commands are currently present. Specifically, control module 4 judges whether the forward command flag is valid, whether the backward command flag is valid, whether the rotation command flag is valid and its direction, and whether the speed change command is triggered in the current cycle. The judgment of each command is independent of each other and does not affect each other.

[0101] 2. Update rules for target velocity and direction parameters: 2.1 Target speed and direction parameter update rules for axial delivery drive mechanism 32: When the forward command is detected, the control module 4 determines the forward target speed parameter of the axial delivery drive mechanism 32 according to the current speed gear, and sets the direction parameter to positive.

[0102] Specifically, the control module 4 reads the current speed gear status indicator. If it is currently in high speed gear, the target speed parameter of the axial delivery drive mechanism 32 is set to the high speed gear parameter value (e.g., 400 steps / second). If it is currently in low speed gear, the target speed parameter is set to the low speed gear parameter value (e.g., 200 steps / second), and the direction parameter is set to positive, corresponding to the forward rotation direction of the stepper motor.

[0103] When the backward command is detected, the control module 4 determines the reverse target speed parameter of the axial delivery drive mechanism 32 according to the current speed gear, and sets the direction parameter to reverse. The value of the target speed parameter is the same as the forward time, that is, it is determined according to the current speed gear, and the direction parameter is set to reverse, which corresponds to the reverse direction of the stepper motor.

[0104] If both forward and backward commands exist simultaneously, the control module 4 sets the target speed parameter of the axial delivery drive mechanism 32 to zero, i.e., stops the axial movement.

[0105] If neither forward nor backward commands are available, the control module 4 sets the target speed parameter of the axial delivery drive mechanism 32 to zero, and the axial delivery drive mechanism 32 stops operating.

[0106] 2.2. Update rules for the target velocity and direction parameters of the rotation drive mechanism 33 around the axis: When the rotation command is detected, the control module 4 determines the target speed parameter and direction parameter of the rotation drive mechanism 33 based on the intensity of the rotation command. The greater the intensity of the rotation command, the greater the value of the target speed parameter. In this embodiment, the wireless operation module 6 uses a PS2 wireless controller. The intensity of the rotation command is determined by the deflection angle of the right joystick in the horizontal direction. The deflection angle of the right joystick ranges from 0° to 45°. The control module 4 reads the analog voltage value corresponding to the joystick deflection through the analog input pin and maps it to the target speed parameter value. The greater the joystick deflection angle, the greater the mapped target speed parameter value. The direction parameter is determined by the deflection direction of the joystick: when the joystick deflects to the right, the direction parameter is set to clockwise; when the joystick deflects to the left, the direction parameter is set to counterclockwise.

[0107] If the rotation command is not available, the control module 4 sets the target speed parameter of the rotation drive mechanism 33 around the axis to zero, and the rotation drive mechanism 33 around the axis stops running.

[0108] 2.3 Preset of speed gear: The control module 4 internally stores two sets of speed parameters: high-speed parameters and low-speed parameters. The high-speed parameters include a first maximum speed value and a first acceleration value, while the low-speed parameters include a second maximum speed value and a second acceleration value. In this embodiment, based on the actual performance during experimental debugging and the requirements for smooth motion during guide wire 8 delivery, the initial maximum speed value is set to 400 steps / second and the acceleration is set to 800 steps / second², which are used as the high-speed parameters. The corresponding maximum speed for the low-speed parameters is 200 steps / second and the acceleration is 400 steps / second². When the speed change command is triggered, the control module 4 switches between the above two sets of parameters. After the switch, the target speed parameters of all motion axes are recalculated according to the new gear parameters.

[0109] The setting of acceleration parameters is crucial to the smoothness of guidewire 8 delivery. A reasonable acceleration setting can prevent the motor from losing steps or stalling due to sudden changes in pulse frequency at the moment of startup. This is especially important in applications that drive slender and flexible guidewire 8. Excessive starting impact force may cause the tip of guidewire 8 to bounce uncontrollably in the blood vessel, increasing the risk of vascular damage.

[0110] 3. Defining and calling the update function: The control module 4 simultaneously calls the running update functions of the axial delivery drive mechanism 32 and the rotation drive mechanism 33 around the axis in each main cycle; in this embodiment, the running update function is the runSpeed() function or the run() function of the AccelStepper library.

[0111] 3.1 The specific function of running the update function: The runtime update function compares the current time with the next pulse time for each axis to determine whether the current time meets the condition for sending a pulse. If so, it flips the level of the corresponding pin to output a pulse; otherwise, it returns immediately without taking up extra time.

[0112] Specifically, each motion axis (including the axial delivery drive mechanism 32 and the about-axis rotation drive mechanism 33) corresponds to an AccelStepper object, and each AccelStepper object maintains the following state variables: Current pulse count (records the number of pulses that have been output); Next pulse timing (timestamp in microseconds); Current target speed (steps / second); Current acceleration (steps / second²); Direction status (forward or reverse).

[0113] When control module 4 calls the operation update function of a certain axis, the function first obtains the microsecond-level timestamp of the current moment and compares it with the "next pulse moment" stored for that axis: If the current moment has reached or exceeded the next pulse moment, the pulse pin level corresponding to the axis is flipped, and the next pulse moment is calculated based on the current target velocity and acceleration, and updated to the state variable of the axis. If the next pulse time has not yet been reached at the current time, the function returns immediately without performing any operation and without consuming any extra time.

[0114] Since the update function for each axis does not contain any delay or blocking operations, the execution time of the update function for a single axis is only in the microsecond range, which is much smaller than a single pulse cycle.

[0115] 3.2 Implementation method of synchronous call: In each cycle of the main loop, the control module 4 sequentially calls the operation update function of the axial delivery drive mechanism 32 and the operation update function of the rotation drive mechanism 33 around the axis.

[0116] The update functions for the two axes are called sequentially within the same main loop cycle. However, since the execution time of each function is only on the order of microseconds, while the single pulse cycle is on the order of milliseconds, the time interval between the two function calls is much smaller than the single pulse cycle. On a macroscopic time scale, the motion of the two axes appears to be completely synchronized.

[0117] Taking the simultaneous operation of the axial delivery drive mechanism 32 and the rotation drive mechanism 33 around the axis as an example: In a certain cycle of the main cycle, the control module 4 first calls the operation update function of the delivery motor. This function determines whether the current time has reached the next pulse time of the delivery motor. If so, it outputs a pulse. Then, it immediately calls the operation update function of the rotation motor. This function determines whether the current time has reached the next pulse time of the rotation motor. If so, it outputs a pulse. The interval between the two function calls is only a few microseconds, while the pulse periods of the two motors are on the order of milliseconds. Therefore, the pulse outputs of the two motors can be regarded as completely synchronized on a macroscopic time scale.

[0118] 3.3 Implementation principle of non-blocking: Since the operation update function does not perform long-term waiting or blocking operations in each main cycle, the control module 4 can continue to read rotation commands and update the target parameters of the rotary motor even when the axial delivery drive mechanism 32 is running; even when the rotary motor is running, the control module 4 can continue to respond to forward, backward, stop or speed change commands.

[0119] Specifically, control module 4 does not adopt the "pulse burst" mode, that is, it does not output multiple pulses continuously at once after detecting a button press. Instead, it decomposes the pulse output process into multiple main loop cycles and completes them step by step. In each main loop cycle, each axis outputs at most one pulse or zero pulses, and then immediately returns the CPU control to the main loop, so that the main loop can continue to execute button reading, parameter updating and control of other axes. Because the execution speed of the main loop is fast enough, the operator's button action can be recognized and converted into motor motion commands in a very short time, achieving a real-time response operation experience in subjective perception.

[0120] With this non-blocking control method, multiple motors will not block each other due to a single action occupying the control flow. The system can respond to the operator's various operation commands in real time. When the operator presses and holds down the delivery button and the rotation button at the same time, the guide wire 8 can achieve a smooth spiral propulsion movement without obvious jamming or shaking.

[0121] 3.4 Handling of the stopped state: When none of the motion buttons of the wireless operation module 6 are pressed, the control module 4 sets the target speed parameters of the axial delivery drive mechanism 32 and the rotation drive mechanism 33 around the axis to zero, and each drive mechanism locks the current position with holding torque.

[0122] In the specific implementation process, the control module 4 detects the status of the handle buttons in each main cycle. If it detects that all motion buttons are not pressed, that is, the forward, backward and rotation commands are not present, the control module 4 calls the speed setting function to set the speed of each axis to zero. At this time, the stepper motor stops rotating, but remains in the energized state to maintain the torque to lock the current axis position. Since the AccelStepper library automatically enters the holding state when the speed is set to zero, the motor rotor is locked at the current angle and will not rotate freely due to external force. This allows the guide wire 8 delivery device to stop moving and remain in the current position the moment the operator releases the handle, effectively preventing the risk of mis-delivery of the guide wire 8 due to command delay.

[0123] In some embodiments, the control method further includes a security protection step: During the execution of steps S3 to S7, the control module 4 monitors the system status in real time. When it detects a limit trigger signal, an emergency stop trigger signal, a motor overload signal, a motor stall signal, or when the actual delivery stroke of the guide wire 8 exceeds the preset maximum delivery stroke or the actual rotation angle of the guide wire 8 exceeds the preset maximum rotation angle, the control module 4 immediately stops the operation of at least one of the clamping drive mechanism 31, the axial delivery drive mechanism 32, and the rotation drive mechanism 33 around the axis.

[0124] The system is equipped with limit switches at the extreme positions of the clamping drive mechanism 31, the axial delivery drive mechanism 32, and the rotation drive mechanism 33. When the moving part of any mechanism touches the limit switch, the limit switch sends a limit trigger signal to the control module 4. After receiving the limit trigger signal, the control module 4 immediately stops the output of the drive motor of the corresponding mechanism to prevent mechanical damage caused by the mechanism moving beyond the design stroke. At the same time, the control module 4 sends an alarm signal through the wireless operation module 6 to remind the operator that the limit protection has been triggered.

[0125] The system is equipped with an emergency stop protection button, which is electrically connected to the control module 4. When the operator discovers an abnormal situation, he / she can immediately press the emergency stop button. When the emergency stop button is pressed, an emergency stop trigger signal is sent to the control module 4. After receiving the emergency stop trigger signal, the control module 4 immediately cuts off the drive power of all actuators, so that the system enters a safe stop state and all movements stop immediately. After the emergency stop is triggered, the system needs to be manually reset by the operator and the initialization operation needs to be re-executed before it can resume normal operation.

[0126] The control module 4 monitors the operating current of each drive motor in real time through the motor drive module 5. When the current of any motor is detected to rise abnormally and exceed the preset threshold, it is judged to be in an overload or stall state. Overload may be caused by excessive resistance encountered by the guidewire 8 in the blood vessel, and stall may be caused by the guidewire 8 being stuck or the movement of the mechanism being obstructed. After detecting the overload or stall signal, the control module 4 immediately stops the output of the corresponding motor and issues an alarm signal.

[0127] In this embodiment, current monitoring is achieved through the current detection function built into the motor drive module 5. For example, when using an A4988 stepper motor driver, the current detection value can be read by monitoring the voltage of its VREF pin or by reading the current value through a serial interface. When using an L298N DC motor driver, a sampling resistor can be connected in series in the motor drive circuit, and the voltage value across the sampling resistor can be read through the analog input pin of the control module 4 and converted into the motor current value.

[0128] The system also has a maximum delivery stroke limit and a maximum rotation angle limit. During delivery, the control module 4 records the actual movement distance of the guidewire 8 in real time. This distance can be calculated by the number of rotations of the delivery motor and the circumference of the friction wheel 34. When the actual delivery distance reaches the preset maximum delivery stroke, the control module 4 automatically stops the output of the delivery motor to prevent the guidewire 8 from being over-delivered and causing vascular damage. During rotation, the control module 4 records the actual rotation angle of the guidewire 8 in real time. This angle can be calculated by the rotation angle of the rotary motor. When the actual rotation angle reaches the preset maximum rotation angle, the control module 4 automatically stops the output of the rotary motor to prevent the guidewire 8 from being over-rotated and causing vascular wall damage or entanglement.

[0129] The preset maximum delivery stroke and maximum rotation angle can be set according to different surgical types, vascular anatomy structures, and guide wire specifications. In this embodiment, the preset maximum delivery stroke is preferably 500mm to 1500mm, and the preset maximum rotation angle is preferably 720° to 1440°. The above values ​​are only examples, and the specific values ​​can be adjusted according to actual needs.

[0130] In some embodiments, before or during surgery, the operator can determine the precise distance at which the guidewire 8 needs to be delivered based on preoperative planning or real-time image guidance. The operator inputs the target delivery distance parameter through the wireless operation module 6, and the control module 4 stores the target delivery distance parameter in its internal memory after receiving it.

[0131] During the axial delivery or retraction of the guidewire 8, the control module 4 calculates the actual movement distance of the guidewire 8 in real time. In this embodiment, the calculation method of the actual movement distance is as follows: the control module 4 records the total number of pulses output by the delivery motor from the start of the movement to the current moment, multiplies it by the circumference of the friction wheel 34, and then divides it by the transmission ratio to obtain the actual movement distance of the guidewire 8.

[0132] The specific calculation formula is: Actual movement distance = Total number of pulses × Step angle × Radius of friction wheel 34 / Transmission ratio. Wherein, the step angle is the angle of rotation of the stepper motor per step, the radius of friction wheel 34 is the radius of friction wheel 34, and the transmission ratio is the transmission ratio between the output shaft of the delivery motor and the friction wheel 34.

[0133] In each main cycle, the control module 4 compares the calculated actual movement distance with the pre-stored target delivery distance parameter. When the actual movement distance reaches the target delivery distance parameter, the control module 4 automatically outputs a stop control signal to the delivery motor, the delivery motor stops rotating, and the guide wire 8 stops at the current delivery position. At this time, even if the operator still presses the forward or backward operation button, the guide wire 8 will not continue to move until the operator releases the button and re-enters the operation command.

[0134] Through the delivery stroke control function, the system can achieve precise distance delivery of guidewire 8, avoiding excessive or insufficient delivery distance. This function has important application value in surgical scenarios where the tip of guidewire 8 needs to be precisely delivered to a specific anatomical location.

[0135] In other embodiments of the present invention, a position feedback sensor may be further provided to achieve closed-loop position control. For example, an optical encoder or magnetic scale may be provided in the limit channel 2 of the guide wire 8 to directly measure the actual movement position of the guide wire 8 and feed the measured value back to the control module 4. The control module 4 dynamically adjusts the operating state of the delivery motor according to the deviation between the feedback value and the target value to achieve higher precision delivery stroke control.

[0136] In addition, the delivery stroke control function can also be linked with the speed gear switching function. For example, when the guide wire 8 approaches the target position, the control module 4 can automatically switch the speed gear from high speed to low speed, so that the guide wire 8 approaches the target position at a low speed, thereby improving the positioning accuracy. When the guide wire 8 reaches the target position, the control module 4 can automatically stop the delivery motor and issue a prompt signal to inform the operator that the delivery is complete.

[0137] To verify the effectiveness and reliability of the guidewire 8 delivery device and its control method based on friction wheel 34 described in this application, a simulated blood vessel experimental platform was constructed. This platform is used to simulate the delivery environment of guidewire 8 in human blood vessels during vascular intervention surgery, so as to test the performance of the device in guidewire 8 clamping, axial delivery, retraction, rotation around the axis and delivery-rotation coordinated control. The platform consists of a simulated blood vessel model and a guidewire 8 delivery device based on friction wheel 34 clamping.

[0138] like Figure 9 As shown, the simulated blood vessel model is used to simulate the anatomical structure and physical characteristics of human blood vessels, providing a near-realistic motion environment for guidewire 8 delivery. The simulated blood vessel model includes at least one curved segment to simulate the curved path of the blood vessel; at least one bifurcation structure to simulate the bifurcation of the blood vessel; and at least one stenotic segment to simulate vascular stenosis lesions.

[0139] The simulated blood vessel model is made of highly transparent material on both sides so that the movement of the guidewire 8 within the blood vessel model can be observed in real time through a high-definition camera during the experiment.

[0140] The experimental platform base is used to support the guidewire 8 delivery device, the simulated blood vessel model and related auxiliary equipment. The guidewire 8 delivery device and the blood vessel model are on the same axis on the base, ensuring that the central axis of the guidewire 8 limiting channel 2 of the guidewire 8 delivery device is precisely aligned with the central axis of the entrance of the blood vessel model.

[0141] After the guide wire 8 is inserted into the delivery device and clamped, observe whether the guide wire 8 slips in order to test the clamping reliability of the clamping mechanism under different clamping forces.

[0142] Different target delivery distances are set, and delivery operations are performed at high speed and low speed. The actual delivery distance is measured by an encoder or laser displacement sensor, the delivery error is calculated, and the delivery accuracy is evaluated.

[0143] During the delivery of guidewire 8, the switching operation between high speed and low speed was performed multiple times. The response time of speed switching, the smoothness of speed change, and whether there was any impact or jitter were recorded to evaluate the reliability and smoothness of the speed switching function.

[0144] In the simulated blood vessel model, different combinations of delivery speed and rotation speed were set, and it was observed whether the guidewire 8 was twisted or tangled during delivery. The delivery and rotation were verified to be synchronized by encoder data.

[0145] In the simulated blood vessel model, perform the following operations respectively: Bending segment pass test: Guidewire 8 is delivered in a simulated blood vessel model, and the pushing force required for guidewire 8 to pass through the bending segment, delivery time, and whether bending occurs are recorded; Bifurcation selection test: In a simulated blood vessel model, the tip of guidewire 8 is directed towards the target branch by delivery-rotation coordinated control, and the success rate of guidewire 8 successfully entering the target branch is recorded; Stenosis passage test: Guidewire 8 is delivered in a simulated vascular model, and the pushing force required for guidewire 8 to pass through the stenosis and whether jamming occurs are recorded.

[0146] As can be seen, some embodiments of this application utilize multiple pairs of friction wheels 34 to form a distributed clamping structure, ensuring that the guidewire 8 is uniformly supported and driven across multiple contact interfaces. This increases the frictional driving force while reducing single-point normal pressure. The clamping, axial delivery, rotation around the axis, and delivery-rotation coordination functions of the guidewire 8 are integrated into a single delivery module. Remote control is achieved through the control module 4, motor drive module 5, and wireless operation module 6. By setting a high / low dual-speed delivery function, the system can switch between rapid adjustment and fine operation. Through a non-blocking multi-axis control method, the system can perform delivery and rotation actions simultaneously to adapt to the movement requirements of the guidewire 8 in curved, bifurcated, and constrained vascular environments. It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially as indicated, these steps are not necessarily executed in the indicated order. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0147] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0148] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A guide wire delivery device based on friction wheel clamping, characterized in that, Includes mounting base, guide wire limiting channel, active and passive friction wheel module, control module, motor drive module, wireless operation module and power supply module: The guide wire limiting channel is provided on the mounting base to limit the movement path of the guide wire when it passes through the device; The active and passive friction wheel module is disposed on the mounting base and located on both sides of the guide wire limiting channel. It includes a clamping drive mechanism, an axial delivery drive mechanism, a rotation drive mechanism around the axis, and at least four pairs of friction wheels arranged opposite each other. Each pair of friction wheels includes an active friction wheel and a passive friction wheel. Multiple pairs of friction wheels form a clamping channel. The guide wire passes through each clamping channel, and each pair of friction wheels is arranged at intervals along the axial direction of the guide wire to form a distributed clamping of the guide wire. The control module is electrically connected to the clamping drive mechanism, the axial delivery drive mechanism and the rotation drive mechanism around the axis, respectively, and is used to receive operation commands and output control signals. The motor drive module is electrically connected to the control module, the clamping drive mechanism, the axial delivery drive mechanism, and the rotation drive mechanism, respectively, and is used to receive the control signal and drive the clamping drive mechanism, the axial delivery drive mechanism, and the rotation drive mechanism to operate, respectively. The wireless operation module is communicatively connected to the control module, and is used for the operator to input the operation commands; and The power supply module is electrically connected to the control module, the motor drive module, and the wireless operation module, and is used to provide working power to each circuit component.

2. The guide wire delivery device based on friction wheel clamping as described in claim 1, characterized in that, The clamping drive mechanism is used to receive the clamping control signal or release control signal output by the control module, and drive the active friction wheel to move towards or away from the guide wire, so that each pair of friction wheels clamps or releases the guide wire; The axial delivery drive mechanism is used to receive the forward control signal or the backward control signal output by the control module when the guide wire is clamped, and drive each pair of friction wheels to rotate synchronously in the forward or backward direction. The static friction between the friction wheels and the guide wire drives the guide wire to move forward or backward along the guide wire limiting channel. The axial rotation drive mechanism is used to receive the rotation control signal output by the control module when the guide wire is clamped, and drive the active and passive friction wheel module to rotate around the axis of the guide wire, so as to drive the guide wire to rotate around its own axis.

3. The guide wire delivery device based on friction wheel clamping as described in claim 1, characterized in that, The friction wheel surface is provided with an elastic friction layer, which is made of rubber, silicone or polyurethane material, and multiple grooves are spaced apart on the outer peripheral surface of the elastic friction layer, the extension direction of the grooves being perpendicular to the movement direction of the guide wire.

4. The guide wire delivery device based on friction wheel clamping as described in claim 1, characterized in that, The clamping drive mechanism is any one of the following: screw and slider mechanism, electric slide table, spring preload mechanism, cam clamping mechanism or pneumatic clamping mechanism; Both the axial delivery drive mechanism and the rotation drive mechanism around the axis are any one of stepper motors, servo motors, brushless DC motors, or linear motors.

5. The guide wire delivery device based on friction wheel clamping as described in claim 1, characterized in that, The wireless operation module is any one of the following: PS2 wireless controller, wired controller, main joystick, touch screen, foot switch, or force feedback control terminal. The control module can be any one of Arduino UNO microcontroller, STM32 microcontroller, ESP32 microcontroller, PLC or industrial computer.

6. A control method for a guide wire delivery device based on friction wheel clamping, applied to the guide wire delivery device based on friction wheel clamping as described in any one of claims 1 to 5, characterized in that, include: S1, System installation and guide wire loading: Fix the guide wire delivery device to the operating platform, align the guide wire limiting channel with the external guide wire guiding direction, and insert the guide wire to be delivered into the clamping channel between each pair of friction wheels along the guide wire limiting channel. S2, System Initialization: Power on the guide wire delivery device, the control module establishes communication connections with the wireless operation module and the motor drive module respectively, and initializes the initial states and delivery speed levels of the clamping drive mechanism, the axial delivery drive mechanism, and the rotation drive mechanism around the axis. S3, guide wire clamping: The control module receives the clamping command sent by the wireless operation module and outputs a clamping control signal to the clamping drive mechanism. The clamping drive mechanism drives the active friction wheel in each pair of friction wheels to move toward the guide wire until static friction contact is formed between each pair of friction wheels and the guide wire, and the guide wire enters the clamping state. S4, Guide wire axial delivery or retraction: When the guide wire is in the clamped state, the control module receives the forward or backward command sent by the wireless operation module, and outputs a control signal in the corresponding direction to the axial delivery drive mechanism. The axial delivery drive mechanism drives each pair of friction wheels to rotate synchronously in the forward or reverse direction, and uses the tangential static friction between the friction wheels and the guide wire to drive the guide wire to perform forward delivery or retraction along the axial direction. S5, Guide wire rotates around the axis: When the guide wire is in the clamped state, the control module receives the rotation command sent by the wireless operation module and outputs a rotation control signal to the rotation drive mechanism around the axis. The rotation drive mechanism around the axis drives the active and passive friction wheel module to rotate around the axis of the guide wire, so as to drive the guide wire to rotate around its own axis. S6, Delivery speed gear switching: The control module receives the speed switching command sent by the wireless operation module, reads the current speed gear status, and switches the operating speed parameters of the axial delivery drive mechanism between preset high speed parameters and low speed parameters. S7, Delivery-rotation coordinated control: In the same control cycle, when the control module simultaneously receives the forward command or the backward command and the rotation command, the control module adopts a non-blocking control method to calculate the target motion parameters of the axial delivery drive mechanism and the axial rotation drive mechanism respectively, and synchronously outputs the corresponding control signals to the motor drive module so that the guide wire rotates around its own axis while moving along the axial direction. S8, guide wire stop and release: The control module receives a stop command or release command sent by the wireless operation module, and controls the corresponding axial delivery drive mechanism or the axial rotation drive mechanism to stop running according to the stop command, or outputs a release control signal to the clamping drive mechanism according to the release command, driving the active friction wheel away from the guide wire, so that the guide wire enters the release state.

7. The control method for the guide wire delivery device based on friction wheel clamping as described in claim 6, characterized in that, In step S6: The high-speed parameters include the first motor speed or the first pulse output frequency, which are used to control the rapid advance or rapid retraction of the guide wire; The low-speed parameters include the second motor speed or the second pulse output frequency, which are used to control the guide wire to advance or retract slowly. The speed of the first motor is greater than that of the second motor, and the frequency of the first pulse output is greater than that of the second pulse output.

8. The control method for the guide wire delivery device based on friction wheel clamping as described in claim 6, characterized in that, The non-blocking control method in step S7 includes: The control program of the control module runs a main loop, continuously reading the input signal of the wireless operation module in each cycle of the main loop, and independently determining whether the forward command, the backward command, the rotation command and the speed switching command exist; When the forward command is detected, the control module determines the forward target speed parameter of the axial delivery drive mechanism based on the current speed gear and sets the direction parameter to forward. When the reverse command is detected, the control module determines the reverse target speed parameter of the axial delivery drive mechanism based on the current speed gear and sets the direction parameter to reverse. When the rotation command is detected, the control module determines the target speed parameter and direction parameter of the rotation drive mechanism based on the intensity of the rotation command. The greater the intensity of the rotation command, the greater the value of the target speed parameter. In each main cycle, the control module simultaneously calls the operation update function of the axial delivery drive mechanism and the rotation drive mechanism. The operation update function compares the current time with the next pulse time of each axis to determine whether the current time meets the condition for sending a pulse. If so, it flips the level of the corresponding pin to output a pulse; otherwise, it returns immediately without taking up extra time. This allows the axial delivery drive mechanism and the rotation drive mechanism to respond to their respective commands simultaneously in the same control cycle without blocking each other. When none of the motion buttons on the wireless operation module are pressed, the control module sets the target speed parameters of the axial delivery drive mechanism and the rotation drive mechanism around the axis to zero, and each drive mechanism locks its current position with holding torque.

9. The control method for the guide wire delivery device based on friction wheel clamping as described in claim 6, characterized in that, It also includes safety protection steps: During the execution of steps S3 to S7, the control module monitors the system status in real time. When a motor overload signal, a motor stall signal, the actual delivery stroke of the guide wire exceeds the preset maximum delivery stroke, or the actual rotation angle of the guide wire exceeds the preset maximum rotation angle is detected, the control module immediately stops the operation of at least one of the clamping drive mechanism, the axial delivery drive mechanism, and the axial rotation drive mechanism.

10. The control method for the guide wire delivery device based on friction wheel clamping as described in claim 6, characterized in that, Step S4 also includes delivery journey control: The control module pre-stores the target delivery distance parameter. During the axial delivery or retraction of the guidewire, the control module acquires the actual movement distance of the guidewire in real time. When the actual movement distance reaches the target delivery distance parameter, the control module automatically outputs a stop control signal to the axial delivery drive mechanism so that the guidewire stops at the current delivery position.

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