Interventional robot

Abstract

The utility model belongs to the technical field of medical instruments, and relates to an interventional robot which comprises a base, an auxiliary delivery mechanism and at least one instrument delivery mechanism, the instrument delivery mechanism is movably arranged on the base, and the instrument delivery mechanism is used for delivering slender medical instruments; the auxiliary delivery mechanism is arranged on the instrument delivery mechanism close to the far end of the base, and the auxiliary delivery mechanism is used for supporting the far end of the slender medical instrument; the auxiliary delivery mechanism comprises a supporting tube and a guiding piece, the two ends of the supporting tube are fixed to the far end and the near end of the base respectively, the guiding piece is arranged on the instrument delivery mechanism, the guiding piece is at least partially sleeved with the supporting tube, and the supporting tube supports the slender medical instrument located between the far end of the supporting tube and the guiding piece. According to the technical scheme, delivery of the slender medical device can be supported and protected, and the delivery precision and safety of the slender medical device are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, more particularly, to an interventional robot. BACKGROUND

[0002] In order to avoid the continuous radiation injury of medical staff in the blood vessel intervention operation, the application of interventional robots in the blood vessel intervention operation has gradually become the mainstream.

[0003] At present, the clamping and delivery of the elongated medical device in the blood vessel intervention operation usually adopts a delivery scheme of three tubes and one wire or three tubes and two wires (i.e., adopts a plurality of tubular medical devices and one or more filamentous medical devices), but the existing interventional robots cannot be effectively supported during the delivery process of the interventional robots because the first catheter located close to the distal end, and the first catheter is bent and deformed during the delivery process, resulting in the failure of delivery. Therefore, the existing first catheter still needs to be manually sent by the doctor, and the degree of automation of the interventional robot is low and will cause radiation to the medical staff. CONTENT OF THE UTILITY MODEL

[0004] The technical problem to be solved by the embodiments of the present application is that the existing first catheter still needs to be manually sent by the doctor, and the degree of automation of the interventional robot is low and will cause radiation to the medical staff.

[0005] In order to solve the above technical problems, the embodiments of the present application provide an interventional robot which adopts the following technical scheme:

[0006] An interventional robot, comprising a base, an auxiliary delivery mechanism and at least one device delivery mechanism, the device delivery mechanism is movably installed on the base, and the device delivery mechanism is used for delivering an elongated medical device; the auxiliary delivery mechanism is installed on the device delivery mechanism close to the distal end of the base, and the auxiliary delivery mechanism is used for providing support for the distal end of the elongated medical device;

[0007] The auxiliary delivery mechanism comprises a support tube and a guide piece, both ends of the support tube are fixed to the distal end and the proximal end of the base respectively, the guide piece is installed on the device delivery mechanism, and the support tube is at least partially sleeved on the guide piece;

[0008] When the device delivery mechanism delivers the elongated medical device, the guide piece moves synchronously with the device delivery mechanism relative to the support tube, the elongated medical device is guided into the support tube by the guide piece, and extends out through the distal end of the support tube, and the support tube provides support for the elongated medical device located between the distal end of the support tube and the guide piece.

[0009] Furthermore, the device delivery mechanism includes a support platform, a delivery component, and a guide seat; the delivery component is mounted on the support platform for delivering the slender medical device; the guide seat is mounted on the support platform, the guide member is mounted at the distal end of the guide seat, and the support tube extends rearward from the distal end of the base, is fitted onto the guide member, passes through the guide seat, and continues to extend rearward and is fixed to the proximal end of the base.

[0010] Furthermore, the guide seat is provided with at least one set of guide wheels, wherein the set of guide wheels includes two guide wheels, the two guide wheels are symmetrically arranged on both sides of the guide seat, and the support tube is clamped between the two guide wheels of the same set of guide wheels.

[0011] Furthermore, the instrument delivery mechanism also includes a rotating assembly mounted on the support platform, and a guide seat mounted on the end of the rotating assembly away from the support platform.

[0012] Furthermore, the rotating assembly includes a fixed base, a rotating shaft, and a base plate; the fixed base is mounted on the support platform, the rotating shaft is detachably mounted on the fixed base, and the rotating shaft can rotate relative to the fixed base around its own axis; the base plate is mounted on the end of the rotating shaft away from the fixed base, and the guide seat is mounted on the base plate.

[0013] Furthermore, the guide includes a catheter support portion and a shuttle structure portion. The catheter support portion is located on the delivery path of the elongated medical device, and a guide hole for the elongated medical device to pass through is formed in the catheter support portion. The shuttle structure portion is mounted on the catheter support portion, and the support tube is at least fitted onto the shuttle structure portion and the distal end of the catheter support portion.

[0014] The elongated medical device passes through the guide hole and enters the support tube.

[0015] Furthermore, the extending direction of the shuttle structure is set at a predetermined angle to the axial extending direction of the guide hole.

[0016] Furthermore, the base includes two fixing components, which are respectively installed at the distal and proximal ends of the base, and are used to fix the distal or proximal end of the support tube.

[0017] Furthermore, the fixing component includes a support frame and a clamping component. The support frame is mounted on the base, and the clamping component is mounted on the support frame. The clamping component includes a first clamping member and a second clamping member. The first clamping member is mounted on the support frame, and the second clamping member is mounted on the first clamping member.

[0018] An anti-slip structure is formed on the opposing surfaces of the first clamping member and the second clamping member, and the support tube is fixed between the first clamping member and the second clamping member.

[0019] Furthermore, the support tube is positioned in a bent state between the fixing component and the guide at the distal end of the base.

[0020] Compared with the prior art, the embodiments of this application have the following main advantages:

[0021] This application provides an auxiliary delivery mechanism at the distal end of the base, using a guide to guide the slender medical device into the support tube. When the slender medical device is delivered by the delivery mechanism, the support tube can provide long-distance support for the distal end of the slender medical device, assisting in the accurate delivery of the slender medical device and improving the delivery accuracy and safety of the slender medical device. Attached Figure Description

[0022] To more clearly illustrate the solution 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the interventional robot according to an embodiment of this application;

[0024] Figure 2 This is a schematic diagram of the structure of the fixing component according to an embodiment of this application;

[0025] Figure 3 This is a schematic cross-sectional view of the clamping component according to an embodiment of this application;

[0026] Figure 4 This is a schematic diagram of the structural assembly of the guide member, guide seat and rotating assembly according to an embodiment of this application;

[0027] Figure 5 This is a structural assembly diagram of the guide member, guide seat, and rotating assembly from another direction according to an embodiment of this application;

[0028] Figure 6 This is a schematic diagram of the structure of the guide component according to an embodiment of this application;

[0029] Figure 7 This is a schematic diagram of the structural fit between the guide and the support tube in an embodiment of this application;

[0030] Figure 8 This is a schematic diagram of the support tube in a bent state according to an embodiment of this application.

[0031] Figure label:

[0032] 1. Base; 11. First fixing component; 111. Support frame; 112. Clamping component; 1121. First clamping member; 1122. Second clamping member; 1123. Anti-slip plate; 12. Second fixing component; 13. Sliding component; 131. Fixed bracket; 132. Guide slide rail; 133. Guide slider; 2. Auxiliary delivery mechanism; 21. Support tube; 211. Circumferential end; 22. Guide; 221. Support; 222. Catheter support part; 223. Shuttle structure part; 224. Guide hole; 3. Instrument delivery mechanism; 31. Bearing platform; 32. Delivery component; 33. Guide seat; 331. Guide wheel group; 34. Connecting bracket; 35. Rotating component; 351. Fixed seat; 352. Rotating shaft; 353. Base plate; 4. Slender medical device. Detailed Implementation

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0034] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0035] For ease of description and understanding, in the following description or other parts of the application documents, the term "distal" refers to the actual site of treatment, i.e., the side closer to the human body; "proximal" refers to the site away from the treatment, i.e., the side further away from the human body; the elongated medical device includes tubular medical devices (hereinafter referred to as catheters) and filamentous medical devices (hereinafter referred to as guidewires).

[0036] Please see Figure 1As shown, this application provides an interventional robot, including a base 1, an auxiliary delivery mechanism 2, and at least one instrument delivery mechanism 3. The instrument delivery mechanism 3 is movably mounted on the base 1 and is used to deliver a slender medical device 4. The auxiliary delivery mechanism 2 is mounted on the instrument delivery mechanism 3 near the distal end of the base 1 and is used to provide support for the distal end of the slender medical device 4.

[0037] In some embodiments, the interventional robot can be applied to a single-tube-one-wire delivery scheme, a multi-tube-one-wire delivery scheme, and a multi-tube-multi-wire delivery scheme. In this embodiment, the interventional robot is applied to a single-tube-one-wire delivery scheme. The number of instrument delivery mechanisms 3 is two, specifically a catheter delivery mechanism and a guidewire delivery mechanism. The catheter delivery mechanism is located at the distal end near the base 1 and is used to deliver the catheter. The guidewire delivery mechanism is located at the proximal end near the base 1 and is used to deliver the guidewire. The auxiliary delivery mechanism 2 is installed at the distal end of the catheter delivery mechanism and is used to provide support for the distal end of the catheter.

[0038] In other embodiments, when the interventional robot is applied to a multi-tube-wire delivery scheme, the interventional robot includes multiple catheter delivery mechanisms for delivering catheters and a guidewire delivery mechanism for delivering guidewires. The catheter controlled by the catheter delivery mechanism located distal to the base 1 is defined as a first catheter. An auxiliary delivery mechanism 2 is mounted on the catheter delivery mechanism located distal to the base 1, and the auxiliary delivery mechanism 2 provides support to the distal end of the first catheter. See also... Figure 1 As shown, the auxiliary delivery mechanism 2 includes a support tube 21 and a guide 22.

[0039] In some embodiments, the two ends of the support tube 21 are respectively fixed to the far end and the near end of the base 1. In this embodiment, the support tube 21 is made of elastic material and has a C-shaped tube structure. A circumferentially extending tube slit is formed on the side wall of the support tube 21. In the initial state, under the action of its own elastic deformation, the two circumferential ends 211 of the support tube 21 are joined together or staggered to form a closed "O" shape.

[0040] In some embodiments, the guide 22 is mounted on the instrument delivery mechanism 3, and the support tube is at least partially mounted on the guide 22. In this embodiment, the guide 22 is used to separate the two circumferential ends 211 of the support tube 21 to form an open "C" shape, such as... Figure 7 As shown.

[0041] In some embodiments, the support tube 21 located between the distal end of the base 1 and the guide 22 can be in a straight state or in a bent state. When the support tube 21 is in a bent state, the length of the slender medical device 4 that can be accommodated in the support tube 21 increases.

[0042] In this embodiment, when the interventional robot is activated and the instrument delivery mechanism 3 delivers the elongated medical device 4, the guide 22 moves synchronously with the instrument delivery mechanism 3 relative to the support tube 21. The elongated medical device 4 enters the support tube 21 through the guide 22 and extends out through the distal end of the support tube 21. The support tube 21 provides support for the elongated medical device 4 located between the distal end of the support tube 21 and the guide 22.

[0043] In this embodiment, an auxiliary delivery mechanism 2 is provided at the distal end of the base 1. The guide 22 guides the elongated medical device 4 into the support tube 21, enabling the support tube 21 to provide long-distance support for the distal end of the elongated medical device 4. When the elongated medical device 4 is delivered by the device delivery mechanism 3, the support tube 21 can provide long-distance support for the distal end of the elongated medical device 4, assisting in the accurate delivery of the elongated medical device 4 and improving the delivery accuracy and safety of the elongated medical device 4.

[0044] Please see Figure 1 As shown, in some embodiments, the base 1 includes two fixing components, which are respectively installed at the distal end and proximal end of the base 1, and are used to fix the distal end or proximal end of the support tube 21.

[0045] In this embodiment, the two fixing components are specifically a first fixing component 11 and a second fixing component 12. The first fixing component 11 is fixedly installed at the distal end of the base 1 for fixing and clamping the distal end of the support tube 21; the second fixing component 12 is fixedly installed at the proximal end of the base 1 for fixing and clamping the proximal end of the support tube 21.

[0046] Furthermore, both the first fixing component 11 and the second fixing component 12 include a support frame 111 and a clamping component 112. However, since it is necessary to avoid other parts of the intervention robot, the shapes of the support frame 111 of the first fixing component 11 and the support frame 111 of the second fixing component 12 may be different. The following description focuses on the first fixing component 11:

[0047] Please see Figure 2As shown, the first fixing component 11 includes a support frame 111 and a clamping component 112. The support frame 111 is mounted on the base 1, and the clamping component 112 is mounted on the support frame 111. The clamping component 112 is used to fix the support tube 21.

[0048] In this embodiment, the support frame 111 includes a fixed arm and a connecting arm formed by bending the end of the fixed arm toward the delivery path of the elongated medical device 4. The clamping member 112 is mounted on the end of the connecting arm and is located on the delivery path of the elongated medical device 4. The end of the support tube 21 is clamped on the clamping member 112.

[0049] Please see Figure 3 As shown, the clamping component 112 includes a first clamping member 1121 and a second clamping member 1122. The first clamping member 1121 is mounted on the support frame 111, and the second clamping member 1122 is mounted on the first clamping member 1121. A clamping hole for the support tube 21 to pass through is formed between the first clamping member 1121 and the second clamping member 1122. An anti-slip structure is formed on the opposing surfaces of the first clamping member 1121 and the second clamping member 1122. The support tube 21 is fixed between the first clamping member 1121 and the second clamping member 1122.

[0050] In this embodiment, the anti-slip structure is an anti-slip plate 1123 arranged at intervals, and the anti-slip plate 1123 is arranged at an angle of 45° relative to the support tube 21.

[0051] In other embodiments, the anti-slip structure may also be a corrugated pattern, a zigzag pattern, or an irregular pattern formed on the wall of the clamping hole.

[0052] This application embodiment improves the clamping stability of the clamping component 112 on the support tube 21 by setting an anti-slip structure, so as to achieve the clamping stability of the first fixing component 11 and the second fixing component 12 on both ends of the support tube 21.

[0053] In some special cases where it is necessary to control the forward delivery distance of the slender medical device 4 to be relatively short, the slender medical device 4 is usually delivered by bending. In order to provide sufficient support for the distal end of the slender medical device, the structure of the support tube in this application embodiment is designed as follows:

[0054] Please see Figure 8 As shown, the support tube 21 is bent and disposed between the fixing component and the guide member 22 at the far end of the base 1. In this embodiment, the support tube 21 is bent and disposed between the first fixing component 11 and the guide member 22.

[0055] In this embodiment, when it is necessary to control the forward delivery distance of the slender medical device 4 to be short, the portion of the slender medical device 4 located inside the support tube 21 is bent along with the bending of the support tube 21 to increase the length of the slender medical device 4 inside the support tube 21, thereby reducing the forward delivery distance of the slender medical device 4 and thus reducing the actual length of the slender medical device 4 entering the body.

[0056] In other embodiments, in order to increase the length of the support tube 21 for accommodating the slender medical device 4, a support tube delivery assembly (not shown in the figure) may be further added. The support tube delivery assembly may be installed on the guide seat 33 or at any position between the guide seat 33 and the second fixing assembly 12, wherein the length of the support tube 21 is greater than the distance between the first fixing assembly 11 and the second fixing assembly 12.

[0057] When it is necessary to control the forward delivery distance of the slender medical device 4 to be short, the support tube delivery assembly delivers the support tube 21 forward, so that the support tube 21 is arranged in a bent state between the first fixing component 11 and the guide 22, thereby realizing that the part located inside the support tube 21 is bent along with the bending of the support tube 21, so as to increase the length of the slender medical device 4 inside the support tube 21.

[0058] In this embodiment, by placing the support tube 21 in a bent state between the fixing component and the guide member 22 at the distal end of the base 1, the support tube 21 can provide support for the bent elongated medical device 4 during delivery, preventing excessive stress concentration on the bent portion of the elongated medical device 4 and thus preventing breakage, thereby improving the safety of the elongated medical device 4. At the same time, it can also increase the length of the support tube 21 that can accommodate the elongated medical device 4, thereby shortening the forward delivery distance of the elongated medical device 4 to meet the actual needs of users.

[0059] Please see Figure 1 As shown, in some embodiments, a sliding track is formed on the base 1, and the instrument delivery mechanism 3 is slidably mounted on the sliding track.

[0060] Please continue reading. Figure 1 As shown, in some embodiments, the base 1 further includes a sliding assembly 13, which includes at least two fixed brackets 131, a guide rail 132, and a guide slider 133. The guide rail 132 is mounted on the side of the base 1 through multiple fixed brackets 131, and the instrument delivery mechanism 3 is slidably connected to the guide rail 132 through the guide slider 133.

[0061] This embodiment of the application further provides a sliding component 13 to guide the sliding of the device delivery mechanism 3 relative to the base 1, thereby improving the delivery stability of the device delivery mechanism 3 when delivering slender medical devices 4, and improving the delivery accuracy and installability of the interventional robot.

[0062] Please see Figure 1 As shown, in some embodiments, the device delivery mechanism 3 includes a support platform 31, a delivery component 32, and a guide seat 33. In this embodiment, the support platform 31 is connected to the guide slider 133, and the support platform 31 is slidably mounted on the guide rail 132; the delivery component 32 is mounted on the support platform 31 for delivering the slender medical device 4; and the guide seat 33 is mounted on the support platform 31.

[0063] In this embodiment, the guide member 22 is installed at the distal end of the guide seat 33, and the support tube 21 extends rearward from the distal end of the base 1, is fitted onto the guide member 22, passes through the guide seat 33, and continues to extend rearward to be fixed at the proximal end of the base 1.

[0064] In this embodiment, the guide seat 33 serves to guide the support tube 21 and provide some support for it.

[0065] In this embodiment, the delivery assembly 32 includes a delivery component and a rotating component. The delivery component is mounted at the proximal end of the support platform 31 for controlling the delivery of the elongated medical device 4; the rotating component is mounted at the distal end of the support platform 31 for controlling the rotation of the elongated medical device 4. Please refer to [link to previous text]. Figure 4 , Figure 5 As shown, in some embodiments, the guide seat 33 is provided with at least one guide wheel group 331. In this embodiment, the guide wheel group 331 includes two guide wheels, which are symmetrically arranged on both sides of the guide seat 33. The support tube 21 is clamped between the two guide wheels of the same guide wheel group 331.

[0066] In this embodiment, the guide wheel assembly 331 reduces the frictional resistance of the guide seat 33 to the support tube 21, ensuring smooth relative movement between the support tube 21 and the guide seat 33, thereby reducing wear on the support tube 21.

[0067] In this embodiment, the device delivery mechanism 3 further includes a connecting bracket 34, which is mounted on the distal end of the guide seat 33. The guide 22 is mounted on the connecting bracket 34 and is located on the delivery path of the elongated medical device 4.

[0068] Please see Figure 4 , Figure 5 As shown, in some embodiments, the instrument delivery mechanism 3 further includes a rotating assembly 35, which is mounted on the support platform 31, and the guide seat 33 is mounted on the end of the rotating assembly 35 away from the support platform 31.

[0069] In this embodiment, the tilt angle of the guide seat 33 is adjusted by setting the rotating component 35, thereby adjusting the guide member 22 to the delivery path of the elongated medical device 4, so that the elongated medical device 4 can enter the support tube 21 through the guide member 22.

[0070] In some embodiments, the rotating assembly 35 includes a fixed base 351, a rotating shaft 352, and a base plate 353; the fixed base 351 is mounted on the support platform 31, the rotating shaft 352 is detachably mounted on the fixed base 351, and the rotating shaft 352 can rotate relative to the fixed base 351 about its own axis; the base plate 353 is mounted at the end of the rotating shaft 352 away from the fixed base 351, and the guide seat 33 is mounted on the base plate 353.

[0071] In this embodiment, the base plate 353 is provided with a slot, and the fixing bolt passes through the slot to connect with the guide seat 33, so as to fix the guide seat 33 on the base plate 353. The slot is provided so that the position of the guide seat 33 can be finely adjusted according to actual needs during the installation process, so as to adapt to the delivery of different slender medical devices 4.

[0072] The rotating component 35 provided in this application embodiment is detachably configured via the rotating shaft 352 to facilitate the quick replacement of the guide seat 33; when support for the slender medical device 4 is not required, the guide seat 33 can be quickly disassembled, thereby removing the auxiliary delivery mechanism 2 and improving the assembly efficiency of the auxiliary delivery mechanism 2.

[0073] Please see Figure 6 , Figure 7As shown, in some embodiments, the guide 22 includes a catheter support portion 222 and a shuttle structure portion 223. The catheter support portion 222 is located on the delivery path of the elongated medical device 4, and a guide hole 224 for the elongated medical device 4 to pass through is formed in the catheter support portion 222. The shuttle structure portion 223 is mounted on the catheter support portion 222, and the support tube 21 is at least fitted onto the shuttle structure portion 223 and the distal end of the catheter support portion 222. In this embodiment, the guide 22 also includes a support 221, which is mounted on the connecting bracket 34. The catheter support portion 222 is disposed on the support 221, and the shuttle structure portion 223 is disposed on the catheter support portion 222. The support 221, the catheter support portion 222, and the shuttle structure portion 223 are integrally formed.

[0074] Please see Figure 7 As shown, in some embodiments, the elongated medical device 4 passes through the guide hole 224 and enters the support tube 21.

[0075] Specifically, the support tube 21 is at least partially fitted onto the shuttle structure 223. The shuttle structure 223 is used to separate the two circumferential ends 211 of the support tube 21 to form an open "C" shape. The support tubes 21 located at both ends of the shuttle structure 223 are in a closed "O" shape. The closed lumen of the support tube 21 located at the distal end of the catheter support 222 communicates with the guide hole 224. The elongated medical device 4 passes through the guide hole 224 and enters the support tube 21. The part of the support tube 21 that leaves the shuttle structure 223 recovers from the open "C" shape to a closed "O" shape under its own elastic deformation and covers the elongated medical device 4.

[0076] In this embodiment, the shuttle structure 223 opens the closed support tube 21 into an open "C" shape to facilitate the reception of the elongated medical device 4 into the support tube 21. At the same time, the catheter support 222 maintains the opening of the support tube 21 while allowing the elongated medical device 4 to pass through the guide hole 224 into the support tube 21, thereby providing support for the elongated medical device 4 and improving the delivery accuracy of the elongated medical device 4.

[0077] Please see Figure 6 As shown, in some embodiments, the extending direction of the shuttle structure 223 is set at a set angle α with the extending direction of the central axis of the guide hole 224.

[0078] In this embodiment, the set included angle α is 30° to 75°. Specifically, the set included angle α can be set to any one of 30°, 45°, 60°, and 75° or a range formed between any two values.

[0079] In this embodiment, the extension direction of the shuttle structure 223 is set at a predetermined angle with the circumferential direction of the guide hole 224, so that after the support tube 21 and the elongated medical device 4 are separated at the guide member 22, the support tube 21 is deviated from the delivery path of the elongated medical device 4, so as to facilitate the separation of the support tube 21 and the elongated medical device 4.

[0080] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. An interventional robot, characterized in that, The device includes a base, an auxiliary delivery mechanism, and at least one device delivery mechanism. The device delivery mechanism is movably mounted on the base and is used to deliver a slender medical device. The auxiliary delivery mechanism is mounted on the device delivery mechanism at a distal end near the base and is used to provide support for the distal end of the slender medical device. The auxiliary delivery mechanism includes a support tube and a guide. The two ends of the support tube are respectively fixed to the distal end and proximal end of the base. The guide is mounted on the instrument delivery mechanism, and the support tube is at least partially fitted onto the guide. When the device delivery mechanism delivers the elongated medical device, the guide moves synchronously with the device delivery mechanism relative to the support tube. The elongated medical device is guided into the support tube by the guide and extends out through the distal end of the support tube. The support tube provides support for the elongated medical device located between the distal end of the support tube and the guide.

2. The interventional robot according to claim 1, characterized in that, The device delivery mechanism includes a support platform, a delivery component, and a guide seat; the delivery component is mounted on the support platform for delivering the slender medical device; the guide seat is mounted on the support platform, the guide member is mounted at the distal end of the guide seat, and the support tube extends rearward from the distal end of the base, is fitted onto the guide member, passes through the guide seat, and continues to extend rearward and is fixed to the proximal end of the base.

3. The interventional robot according to claim 2, characterized in that, The guide seat is provided with at least one set of guide wheels, wherein the set of guide wheels includes two guide wheels, the two guide wheels are symmetrically arranged on both sides of the guide seat, and the support tube is clamped between the two guide wheels.

4. The interventional robot according to claim 2, characterized in that, The instrument delivery mechanism further includes a rotating assembly mounted on the support platform, and a guide seat mounted on the end of the rotating assembly away from the support platform.

5. The interventional robot according to claim 4, characterized in that, The rotating assembly includes a fixed base, a rotating shaft, and a base plate; the fixed base is mounted on the support platform, the rotating shaft is detachably mounted on the fixed base, and the rotating shaft can rotate relative to the fixed base around its own axis; the base plate is mounted on the end of the rotating shaft away from the fixed base, and the guide seat is mounted on the base plate.

6. The interventional robot according to claim 1, characterized in that, The guide includes a catheter support and a shuttle structure. The catheter support is located on the delivery path of the elongated medical device, and a guide hole is formed in the catheter support for the elongated medical device to pass through. The shuttle structure is mounted on the catheter support, and the support tube is at least fitted onto the shuttle structure and the distal end of the catheter support. The elongated medical device passes through the guide hole and enters the support tube.

7. The interventional robot according to claim 6, characterized in that, The extension direction of the shuttle structure is set at a predetermined angle to the axial extension direction of the guide hole.

8. The interventional robot according to claim 1, characterized in that, The base includes two fixing components, which are respectively installed at the distal and proximal ends of the base, and are used to fix the distal or proximal end of the support tube.

9. The interventional robot according to claim 8, characterized in that, The fixing component includes a support frame and a clamping component. The support frame is mounted on the base, and the clamping component is mounted on the support frame. The clamping component includes a first clamping member and a second clamping member. The first clamping member is mounted on the support frame, and the second clamping member is mounted on the first clamping member. An anti-slip structure is formed on the opposing surfaces of the first clamping member and the second clamping member, and the support tube is fixed between the first clamping member and the second clamping member.

10. The interventional robot according to claim 8, characterized in that, The support tube is bent and positioned between the fixing component and the guide at the distal end of the base.

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