Delivery device and vascular intervention surgical robot

Abstract

The application provides a delivery device, which comprises a delivery driving member, a translation driving member, a transmission assembly and a delivery assembly, the delivery assembly comprises a first delivery wheel and a second delivery wheel, the first delivery wheel and the second delivery wheel are used for delivering an interventional instrument, the transmission assembly comprises a transmission shaft and a transmission nut, the output end of the delivery driving member is connected with the transmission shaft, the transmission nut is sleeved on the transmission shaft and connected with the transmission shaft, the transmission shaft can axially slide relative to the transmission nut, the first delivery wheel and the second delivery wheel are both transmissionally connected with the transmission shaft, the rotation directions of the first delivery wheel and the second delivery wheel are opposite, the output end of the translation driving member is transmissionally connected with the first delivery wheel to drive the first delivery wheel to move close to or away from the second delivery wheel. Compared with the prior art, the delivery device provided by the application has a smaller overall volume and a lower cost, and the delivery is more reliable compared with the delivery mode of one driving wheel and one driven wheel. In addition, the application also provides a vascular interventional surgery robot.

Description

Technical Field

[0001] This application relates to the field of vascular interventional surgery robot technology, and more particularly to a delivery device and a vascular interventional surgery robot. Background Technology

[0002] In the field of vascular interventional surgical robots, rollers are currently commonly used for delivering interventional instruments (such as guidewires or catheters) due to their infinite rotation capability and small size. Roller delivery involves two rollers clamping the interventional instrument, which rotates in opposite directions to achieve continuous forward or backward movement. For ease of instrument installation, one roller is typically fixed while the other is movable relative to it. A common configuration is one driving roller and one driven roller; one roller receives a power input while the other rotates passively while clamped. This structure often leads to unreliable delivery due to slippage of the driven roller. Providing a separate power source for each roller would increase the device's size, raise costs, and require a higher degree of synchronization in the motion control of the two rollers. Summary of the Invention

[0003] According to one aspect of this application, a delivery device is provided that provides reliable delivery of interventional instruments, has a compact overall structure, occupies a small volume, and has low cost. The delivery device includes a delivery drive, a translation drive, a transmission assembly, and a delivery component. The delivery component includes a first delivery wheel and a second delivery wheel, which can be used to clamp the interventional instrument and deliver it when rotating in opposite directions. The transmission assembly includes a drive shaft and a drive nut. The output end of the delivery drive is drivenly connected to the drive shaft. The drive nut is sleeved on the drive shaft and drivenly connected to it, and the drive shaft can slide axially relative to the drive nut. Both the first and second delivery wheels are drivenly connected to the drive shaft, and the first and second delivery wheels rotate in opposite directions. The output end of the translation drive is drivenly connected to the first delivery wheel to drive the first delivery wheel closer to or away from the second delivery wheel.

[0004] Compared with existing technologies, the delivery device provided in this application uses a delivery drive to rotate a transmission shaft, and a transmission nut is fitted on the transmission shaft, allowing the transmission shaft to slide axially relative to the transmission nut. A first delivery wheel and a second delivery wheel for delivering interventional instruments are connected to the transmission shaft, allowing the delivery drive to simultaneously drive the first and second delivery wheels to rotate in opposite directions to deliver the interventional instrument. A translation drive is also provided to move the first delivery wheel away from or towards the second delivery wheel, thereby clamping or releasing the interventional instrument. Therefore, the delivery device provided in this application, by using a single transmission shaft to simultaneously drive the first and second delivery wheels to rotate in opposite directions to deliver the interventional instrument, saves space by eliminating the need for an additional power source, resulting in a smaller overall size and lower cost. Furthermore, compared to a delivery method with one driving wheel and one driven wheel, this application uses two driving wheels to deliver the interventional instrument, thus making the delivery more reliable.

[0005] Specifically, the transmission assembly further includes a first transmission gear and a second transmission gear, the first transmission gear and the second transmission gear being coaxially disposed on the transmission shaft, and the rotation direction of the first transmission gear being opposite to that of the second transmission gear; the delivery assembly further includes a first delivery gear and a second delivery gear, the first delivery gear being coaxially disposed with the first delivery wheel, the second delivery gear being coaxially disposed with the second delivery wheel, the first delivery gear being capable of meshing with the first transmission gear, and the second delivery gear being capable of meshing with the second transmission gear.

[0006] Specifically, the delivery assembly further includes a third delivery wheel, a fourth delivery wheel, a third delivery gear, and a fourth delivery gear. The third delivery gear is coaxially arranged with the third delivery wheel, and the fourth delivery gear is coaxially arranged with the fourth delivery wheel. The rotation direction of the third delivery gear is opposite to that of the fourth delivery gear. The third delivery gear is driven by the first delivery gear, and the fourth delivery gear is driven by the second delivery gear. The third delivery wheel and the fourth delivery wheel can be used to clamp the interventional device and can deliver the interventional device when rotating in opposite directions.

[0007] Specifically, the delivery assembly further includes a first intermediate gear and a second intermediate gear, the third delivery gear meshes with the first delivery gear simultaneously with the first intermediate gear, and the fourth delivery gear meshes with the second delivery gear simultaneously with the second intermediate gear.

[0008] Specifically, the delivery device further includes a mounting bracket, the delivery assembly further includes a fixed seat and a sliding seat, the delivery drive, the translation drive and the fixed seat are all connected to the mounting bracket, the sliding seat is slidably disposed on the mounting bracket, the first delivery wheel, the first delivery gear, the first intermediate gear, the third delivery wheel and the third delivery gear are all disposed on the sliding seat, the second delivery wheel, the second delivery gear, the second intermediate gear, the fourth delivery wheel and the fourth delivery gear are all disposed on the fixed seat, and the output end of the translation drive is connected to the sliding seat to drive the sliding seat to move closer to or away from the fixed seat.

[0009] Specifically, the delivery device further includes a connecting slider and a guide rail. The guide rail is connected to the mounting bracket, and the extension direction of the guide rail is adapted to the moving direction of the sliding seat. The connecting slider is slidably disposed on the guide rail, and the connecting slider is also connected to the sliding seat.

[0010] Specifically, the delivery device further includes an interventional device twisting assembly, which is located on the side of the first delivery wheel away from the drive shaft. The twisting end of the interventional device twisting assembly can contact the interventional device and drive the interventional device to rotate around its own axis.

[0011] Specifically, the interventional device twisting assembly includes a base, a flip cover, a pressure block, a twisting drive, and a synchronous belt mechanism. The twisting drive and the synchronous belt mechanism are both disposed on the base. The synchronous belt mechanism includes a synchronous belt that can rub against the interventional device. The output end of the twisting drive is connected to the synchronous belt to drive the synchronous belt to move along a first direction, which is perpendicular to the axis of the interventional device. One end of the flip cover is rotatably connected to the base, and the other end of the flip cover can be fastened to the base. The flip cover is located above the synchronous belt. The pressure block is disposed on the side of the flip cover facing the synchronous belt, and the pressure block can simultaneously rub against the interventional device with the synchronous belt.

[0012] Specifically, the base includes a first limiting groove, and the flip cover includes a second limiting groove. The first limiting groove is located on the surface of the base facing the interventional device, and the second limiting groove is located on the surface of the flip cover facing the interventional device. The first limiting groove and the second limiting groove can together form a limiting cavity. The size of the limiting cavity is adapted to the size of the interventional device, and the limiting cavity is used to limit the interventional device.

[0013] Specifically, the interventional device twisting assembly further includes a tensioning member, which is disposed between the timing belt and the base, and one end of the tensioning member is in elastic contact with the surface of the timing belt.

[0014] According to another aspect of this application, a vascular interventional surgical robot is also provided, which includes the aforementioned delivery device. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0016] Figure 1 A schematic diagram of an embodiment of the delivery device provided in this application;

[0017] Figure 2 A partial cross-sectional view from one perspective of a delivery device provided in one embodiment of this application;

[0018] Figure 3 A cross-sectional view from another perspective of a delivery device provided in one embodiment of this application;

[0019] Figure 4 A schematic diagram of yet another embodiment of the delivery device provided in this application;

[0020] Figure 5 for Figure 4 A magnified view of a section at point A in the middle;

[0021] Figure 6 A bottom view of the delivery device provided in another embodiment of this application after removing the mounting bracket;

[0022] Figure 7 A schematic diagram of the flip cover of the wire twisting assembly of the delivery device provided in one embodiment of this application when it is fastened to the base;

[0023] Figure 8 for Figure 7 A magnified view of a section at point B in the middle;

[0024] Figure 9 This is a schematic diagram of the flip cover of the wire twisting assembly of the delivery device provided in one embodiment of the present application when it is not fastened to the base.

[0025] The attached figures are labeled as follows:

[0026] 100. Delivery device; 110. Delivery drive; 120. Translation drive; 130. Transmission assembly; 131. Drive shaft; 132. Transmission nut; 133. First transmission gear; 134. Second transmission gear; 140. Delivery assembly; 141. First delivery wheel; 142. Second delivery wheel; 1401. First delivery gear; 1402. Second delivery gear; 1403. Third delivery gear; 1404. Fourth delivery gear; 1405. First intermediate gear; 1406. Second intermediate gear; 43. Fixed base; 144. Sliding base; 150. Mounting bracket; 160. Connecting slider; 170. Guide rail; 180. Interventional instrument twisting assembly; 181. Base; 1811. First limiting groove; 182. Flip cover; 1821. Second limiting groove; 183. Pressure block; 184. Twisting drive component; 185. Synchronous belt mechanism; 1851. Synchronous belt; 1852. Synchronous pulley; 186. Tensioning component; 1861. Tensioning spring; 1862. Top block; 190. Limiting cavity; 200. Interventional instrument. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0028] In the description of the embodiments of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc. (if present), indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only for the convenience of describing the embodiments of this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. Furthermore, the terms "first," "second," and "third" are used only for descriptive purposes such as distinguishing similar objects, and should not be construed as indicating or implying relative importance or order.

[0029] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0030] Please see Figures 1-3 The delivery device 100 provided in this application includes a delivery drive 110, a translation drive 120, a transmission assembly 130, and a delivery assembly 140. The delivery assembly 140 includes a first delivery wheel 141 and a second delivery wheel 142, which can be used to clamp an interventional instrument 200 and deliver the interventional instrument 200 when rotating in opposite directions. The transmission assembly 130 includes a drive shaft 131 and a drive nut 132. The output end of the delivery drive 110 is driveably connected to the drive shaft 131. The drive nut 132 is sleeved on the drive shaft 131 and drively connected to the drive shaft 131, and the drive shaft 131 can slide axially relative to the drive nut 132. Both the first delivery wheel 141 and the second delivery wheel 142 are driveably connected to the drive shaft 131, and the rotation directions of the first delivery wheel 141 and the second delivery wheel 142 are opposite. The output end of the translation drive 120 is connected to the first delivery wheel 141 to drive the first delivery wheel 141 closer to or further away from the second delivery wheel 142. In this embodiment, the delivery drive 110 is a servo motor that meets the usage requirements, and the translation drive 120 is a linear motor that meets the usage requirements. The interventional device 200 may be an interventional guidewire or an interventional catheter.

[0031] In this way, only one drive motor, the delivery drive unit 110, is needed to drive both the first delivery wheel 141 and the second delivery wheel 142 to rotate simultaneously to deliver the interventional device 200. This is equivalent to having two drive wheels, which can effectively reduce slippage during delivery. Moreover, only one drive motor is needed, which reduces the overall size of the delivery device 100 and saves the cost of purchasing an additional drive motor.

[0032] Further, please refer to Figures 2-3In some embodiments of this application, the transmission assembly 130 further includes a first transmission gear 133 and a second transmission gear 134, which are coaxially disposed on the transmission shaft 131, and the rotation direction of the first transmission gear 133 is opposite to that of the second transmission gear 134; the delivery assembly 140 further includes a first delivery gear 1401 and a second delivery gear 1402, which are coaxially disposed with the first delivery wheel 141, and the second delivery gear 1402 is coaxially disposed with the second delivery wheel 142. The first delivery gear 1401 can mesh with the first transmission gear 133, and the second delivery gear 1402 can mesh with the second transmission gear 134.

[0033] Further, please refer to Figure 4 In some embodiments of this application, the delivery assembly 140 further includes a third delivery wheel, a fourth delivery wheel, a third delivery gear 1403, and a fourth delivery gear 1404. The third delivery gear 1403 is coaxially arranged with the third delivery wheel, and the fourth delivery gear 1404 is coaxially arranged with the fourth delivery wheel. The rotation direction of the third delivery gear 1403 is opposite to that of the fourth delivery gear 1404. The third delivery gear 1403 is drivenly connected to the first delivery gear 1401, and the fourth delivery gear 1404 is drivenly connected to the second delivery gear 1402. The third and fourth delivery wheels can be used to clamp the interventional device 200 and can deliver the interventional device 200 when rotating in opposite directions. This arrangement can further increase the length of the interventional device 200 being clamped and enhance the delivery force to prevent slippage during delivery. It should be noted that the first delivery wheel 141, the second delivery wheel 142, the third delivery wheel, and the fourth delivery wheel have the same structure. To facilitate the demonstration of the meshing relationship between the gears, Figure 4 The first delivery wheel 141, the second delivery wheel 142, the third delivery wheel, and the fourth delivery wheel are not shown; only the axles on which they are located are shown.

[0034] Further, please refer to Figures 4-5In some embodiments of this application, the delivery assembly 140 further includes a first intermediate gear 1405 and a second intermediate gear 1406. A third delivery gear 1403 meshes with the first delivery gear 1401 simultaneously in the first intermediate gear 1405, and a fourth delivery gear 1404 meshes with the second delivery gear 1402 simultaneously in the second intermediate gear 1406. This arrangement enables indirect transmission between the first delivery wheel 141 and the third delivery wheel, and between the second delivery wheel 142 and the fourth delivery wheel. Compared to a structure where gears on two delivery wheels are coaxially arranged and directly mesh for transmission, this structure increases the distance between the first delivery wheel 141 and the third delivery wheel on the same side, and also increases the distance between the second delivery wheel 142 and the fourth delivery wheel on the same side. This ensures that the first delivery wheel 141 and the third delivery wheel rotate in the same direction, and the second delivery wheel 142 and the fourth delivery wheel rotate in the same direction, while also preventing interference between the first delivery wheel 141 and the third delivery wheel on the same side, or between the second delivery wheel 142 and the fourth delivery wheel on the same side.

[0035] Further, please refer to Figure 4 In some embodiments of this application, the delivery device 100 further includes a mounting bracket 150, and the delivery assembly 140 further includes a fixed seat 143 and a sliding seat 144. The delivery drive 110, the translation drive 120, and the fixed seat 143 are all connected to the mounting bracket 150. The sliding seat 144 is slidably disposed on the mounting bracket 150. The first delivery wheel 141, the first delivery gear 1401, the first intermediate gear 1405, the third delivery wheel, and the third delivery gear 1403 are all disposed on the sliding seat 144. The second delivery wheel 142, the second delivery gear 1402, the second intermediate gear 1406, the fourth delivery wheel, and the fourth delivery gear 1404 are all disposed on the fixed seat 143. The output end of the translation drive 120 is connected to the sliding seat 144 to drive the sliding seat 144 to move closer to or away from the fixed seat 143. This configuration facilitates the removal of the interventional device 200 from between the fixed seat 143 and the sliding seat 144, or the insertion of the interventional device 200 between the fixed seat 143 and the sliding seat 144.

[0036] Further, please refer to Figure 6 In some embodiments of this application, the delivery device 100 further includes a connecting slider 160 and a guide rail 170. The guide rail 170 is connected to the mounting bracket 150, and the extending direction of the guide rail 170 is adapted to the moving direction of the sliding seat 144. The connecting slider 160 slides on the guide rail 170 and is also connected to the sliding seat 144. In this embodiment, the mounting bracket 150 is provided with two guide rails 170 that are parallel to each other, and two connecting sliders 160 are also provided accordingly, thereby making the movement of the sliding seat 144 more stable.

[0037] Further, please refer to Figure 1 and Figure 7 In some embodiments of this application, the delivery device 100 further includes an interventional device twisting assembly 180, which is disposed on the side of the first delivery wheel 141 away from the drive shaft 131. The twisting end of the interventional device twisting assembly 180 can contact the interventional device 200 and drive the interventional device 200 to rotate around its own axis. This arrangement enables the interventional device 200 to be held more reliably during delivery.

[0038] Further, please refer to Figures 7-9 In some embodiments of this application, the interventional device twisting assembly 180 includes a base 181, a flip cover 182, a pressure block 183, a twisting drive 184, and a timing belt mechanism 185. Both the twisting drive 184 and the timing belt mechanism 185 are disposed on the base 181. The timing belt mechanism 185 includes a timing belt 1851, which can frictionally contact the interventional device 200. The output end of the twisting drive 184 is drively connected to the timing belt 1851 to drive the timing belt 1851 to move along a first direction, which is perpendicular to the axis of the interventional device 200. One end of the flip cover 182 is rotatably connected to the base 181, and the other end of the flip cover 182 can be fastened to the base 181. The flip cover 182 is located above the timing belt 1851. The pressure block 183 is disposed on the side of the flip cover 182 facing the timing belt 1851, and the pressure block 183 can simultaneously frictionally contact the interventional device 200 with the timing belt 1851. Specifically, when the flip cover 182 is fastened onto the base 181, the pressure block 183 also contacts the interventional device 200, and the timing belt 1851 can still rotate the interventional device 200. Compared to the existing method of alternating up-and-down movement of rollers for twisting, this arrangement allows for continuous rotation of the interventional device 200 by using the timing belt 1851, greatly improving the twisting efficiency of the interventional device 200. Compared to the torque controller clamping the interventional device 200 for rotation, using the timing belt 1851 to twist the interventional device 200 avoids long suspended parts of the interventional device 200, preventing these long suspended parts from being caught in the exposed shaft. Specifically, the synchronous belt mechanism 185 further includes two synchronous pulleys 1852, with a synchronous belt 1851 mounted on the synchronous pulleys 1852. One of the synchronous pulleys 1852 is rotatably connected to the base 181, and the other synchronous pulley 1852 is connected to the output end of the twisting drive 184. In this embodiment, the twisting drive 184 is a conventional servo motor that meets the functional requirements.

[0039] Further, please refer to Figures 7-8In some embodiments of this application, the base 181 includes a first limiting groove 1811, and the flip cover 182 includes a second limiting groove 1821. The first limiting groove 1811 is located on the surface of the base 181 facing the interventional device 200, and the second limiting groove 1821 is located on the surface of the flip cover 182 facing the interventional device 200. The first limiting groove 1811 and the second limiting groove 1821 can together form a limiting cavity 190. The size of the limiting cavity 190 is adapted to the size of the interventional device 200, and the limiting cavity 190 is used to limit the interventional device 200. This arrangement can prevent significant left-right slippage when the interventional device 200 is twisted by the synchronous belt 1851. Specifically, the inner diameter of the limiting cavity 190 is larger than the outer diameter of the interventional device 200, but not by much. However, since the interventional device 200 itself is very thin, the inner diameter of the limiting cavity 190 can be set to 2-3 times the outer diameter of the interventional device 200. In addition, the base 181 is box-shaped, and both sides of the base 181 are provided with first limiting grooves 1811. The flip cover 182 is adapted to the shape of the base 181, and the flip cover 182 is provided with two corresponding second limiting grooves 1821. Therefore, there are two limiting cavities 190 between the flip cover 182 and the base 181 for the interventional instrument 200 to pass through.

[0040] Further, please refer to Figures 7-9 In some embodiments of this application, the interventional device twisting assembly 180 further includes a tensioning member 186, which is disposed between the synchronous belt mechanism 185 and the base 181, with one end of the tensioning member 186 in elastic contact with the surface of the synchronous belt 1851. Specifically, the tensioning member 186 includes a tension spring 1861 and a top block 1862. One end of the tension spring 1861 is connected to the top block 1862, and the other end of the tension spring 1861 elastically abuts against the base 181. The side of the top block 1862 away from the tension spring 1861 abuts against the synchronous belt 1851. Under the action of the tensioning member 186, the synchronous belt 1851 and the pressure block 183 can adaptively clamp the interventional device 200, preventing the interventional device 200 from being completely pressed against the synchronous belt 1851 by the pressure block 183.

[0041] The following is a description of the working principle of the delivery device 100 provided in this application.

[0042] When the interventional device 200 needs to be delivered, the translational drive 120 first moves the sliding seat 144 a certain distance away from the fixed seat 143. Then, the interventional device 200 is delivered between the delivery wheels (first delivery wheel 141 and third delivery wheel) on the sliding seat 144 and the delivery wheels (second delivery wheel 142 and fourth delivery wheel) on the fixed seat 143. Next, the translational drive 120 moves the sliding seat 144 closer to the fixed seat 143, so that the delivery wheels on the sliding seat 144 engage with the fixed seat 143. The delivery rollers on the base 143 hold the interventional device 200. At the same time, the interventional device 200 can also be placed on the timing belt 1851. Then, the flip cover 182 is fastened to the base 181. In this way, the installation of the interventional device 200 is completed. Subsequently, the first delivery roller 141, the second delivery roller 142, the third delivery roller and the fourth delivery roller can be driven by the delivery drive 110 to rotate to deliver the interventional device 200. At the same time, the twisting drive 184 can be activated to make the interventional device 200 rotate continuously.

[0043] Compared with the prior art, the delivery device 100 provided in this application drives the transmission shaft 131 to rotate by setting a delivery drive 110, and a transmission nut 132 is sleeved on the transmission shaft 131 so that the transmission shaft 131 can slide axially relative to the transmission nut 132. The first delivery wheel 141 and the second delivery wheel 142 for delivering the interventional device 200 are connected to the transmission shaft 131, so that the delivery drive 110 can simultaneously drive the first delivery wheel 141 and the second delivery wheel 142 to rotate in opposite directions to deliver the interventional device 200. A translation drive 120 is set to drive the first delivery wheel 141 away from or close to the second delivery wheel 142, thereby clamping or releasing the interventional device 200. Therefore, the delivery device 100 provided in this application uses a drive shaft 131 to simultaneously drive the first delivery wheel 141 and the second delivery wheel 142 to rotate in opposite directions to deliver the interventional device 200. This not only saves the space required for an additional drive motor, making the overall size of the device smaller and saving the cost of additional drive motor configuration, but also, compared to the delivery method of one active wheel and one passive wheel, this application has at least two active wheels (the first delivery wheel 141 and the second delivery wheel 142) to deliver the interventional device 200, thus making the delivery more reliable.

[0044] In addition, this application also provides a vascular interventional surgery robot, which includes the aforementioned delivery device 100, and its beneficial effects are the same as those of the delivery device 100, which will not be described in detail here.

[0045] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A delivery device, characterized in that, The device includes a delivery drive, a translation drive, a transmission assembly, and a delivery assembly. The delivery assembly includes a first delivery wheel and a second delivery wheel, which can be used to clamp interventional instruments and deliver the interventional instruments when rotating in opposite directions. The transmission assembly includes a transmission shaft and a transmission nut. The output end of the delivery drive is drivenly connected to the transmission shaft. The transmission nut is sleeved on the transmission shaft and drivenly connected to the transmission shaft, and the transmission shaft can slide axially relative to the transmission nut. The first delivery wheel and the second delivery wheel are both drivenly connected to the transmission shaft, and the rotation directions of the first delivery wheel and the second delivery wheel are opposite. The output end of the translation drive is drivenly connected to the first delivery wheel to drive the first delivery wheel closer to or away from the second delivery wheel. The transmission assembly further includes a first transmission gear and a second transmission gear, the first transmission gear and the second transmission gear being coaxially disposed on the transmission shaft, and the rotation direction of the first transmission gear being opposite to that of the second transmission gear; the delivery assembly further includes a first delivery gear and a second delivery gear, the first delivery gear being coaxially disposed with the first delivery wheel, the second delivery gear being coaxially disposed with the second delivery wheel, the first delivery gear being capable of meshing with the first transmission gear, and the second delivery gear being capable of meshing with the second transmission gear.

2. The delivery device according to claim 1, characterized in that, The delivery assembly further includes a third delivery wheel, a fourth delivery wheel, a third delivery gear, and a fourth delivery gear. The third delivery gear is coaxially arranged with the third delivery wheel, and the fourth delivery gear is coaxially arranged with the fourth delivery wheel. The rotation direction of the third delivery gear is opposite to that of the fourth delivery gear. The third delivery gear is driven by the first delivery gear, and the fourth delivery gear is driven by the second delivery gear. The third delivery wheel and the fourth delivery wheel can be used to clamp the interventional device and can deliver the interventional device when rotating in opposite directions.

3. The delivery device according to claim 2, characterized in that, The delivery assembly further includes a first intermediate gear and a second intermediate gear, the third delivery gear meshes with the first delivery gear simultaneously with the first intermediate gear, and the fourth delivery gear meshes with the second delivery gear simultaneously with the second intermediate gear.

4. The delivery device according to claim 3, characterized in that, The delivery device further includes a mounting bracket, and the delivery assembly further includes a fixed seat and a sliding seat. The delivery drive, the translation drive, and the fixed seat are all connected to the mounting bracket. The sliding seat is slidably disposed on the mounting bracket. The first delivery wheel, the first delivery gear, the first intermediate gear, the third delivery wheel, and the third delivery gear are all disposed on the sliding seat. The second delivery wheel, the second delivery gear, the second intermediate gear, the fourth delivery wheel, and the fourth delivery gear are all disposed on the fixed seat. The output end of the translation drive is connected to the sliding seat to drive the sliding seat to move closer to or away from the fixed seat.

5. The delivery device according to claim 4, characterized in that, The delivery device further includes a connecting slider and a guide rail. The guide rail is connected to the mounting bracket, and the extension direction of the guide rail is adapted to the moving direction of the sliding seat. The connecting slider is slidably disposed on the guide rail, and the connecting slider is also connected to the sliding seat.

6. The delivery device according to claim 1, characterized in that, The delivery device further includes an interventional device twisting assembly, which is located on the side of the first delivery wheel away from the drive shaft. The twisting end of the interventional device twisting assembly can contact the interventional device and drive the interventional device to rotate around its own axis.

7. The delivery device according to claim 6, characterized in that, The interventional device twisting assembly includes a base, a flip cover, a pressure block, a twisting drive, and a timing belt mechanism. The twisting drive and the timing belt mechanism are both disposed on the base. The timing belt mechanism includes a timing belt that can rub against the interventional device. The output end of the twisting drive is connected to the timing belt to drive the timing belt to move along a first direction, which is perpendicular to the axis of the interventional device. One end of the flip cover is rotatably connected to the base, and the other end of the flip cover can be fastened to the base. The flip cover is located above the timing belt. The pressure block is disposed on the side of the flip cover facing the timing belt, and the pressure block can simultaneously rub against the interventional device with the timing belt.

8. The delivery device according to claim 7, characterized in that, The base includes a first limiting groove, and the flip cover includes a second limiting groove. The first limiting groove is located on the surface of the base facing the interventional device, and the second limiting groove is located on the surface of the flip cover facing the interventional device. The first limiting groove and the second limiting groove can together form a limiting cavity. The size of the limiting cavity is adapted to the size of the interventional device, and the limiting cavity is used to limit the interventional device.

9. The delivery device according to claim 7, characterized in that, The interventional device twisting assembly also includes a tensioning member, which is disposed between the timing belt and the base, and one end of the tensioning member is in elastic contact with the surface of the timing belt.

10. A vascular interventional surgical robot, characterized in that, Includes the delivery device as described in any one of claims 1-9.

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