Delivery rotation device for an interventional instrument and delivery system

Abstract

The utility model relates to medical instrument technical field discloses an interventional instrument's delivery rotating device and conveying system, including transmission mechanism, delivery mechanism and torsion mechanism, the top detachable setting of transmission mechanism has delivery mechanism for delivery interventional instrument, the one side detachable setting of transmission mechanism has torsion mechanism, is used for driving interventional instrument to rotate the axis direction of torsion mechanism drive interventional instrument rotation with the direction that delivery mechanism delivers interventional instrument is set to present preset angle of clamping, to make interventional instrument between torsion mechanism and delivery mechanism part present coiled shape, the axis of the utility model is arranged with the preset angle of clamping of the conveying direction of delivery mechanism to the torsion mechanism, makes interventional instrument to bend arrangement, breaks through the limitation of coaxial linear layout in the prior art, shortens the device axial length significantly, effectively reduces the space utilization, can nimble adaptation operating room narrow space and small -size equipment installation demand.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, specifically to a delivery and rotation device and delivery system for interventional devices. Background Technology

[0002] Cardiovascular and cerebrovascular diseases are among the major threats to human health, and their incidence has been rising in recent years. Currently, interventional treatments for these diseases still primarily rely on manual manipulation by physicians. This involves delivering and rotating interventional instruments such as guidewires proximally under DSA visualization to the target blood vessel for treatment. However, during these procedures, physicians are exposed to X-rays, which can lead to occupational hazards over time, and the precision required for manual manipulation is difficult to maintain. While some devices and equipment exist to assist physicians in vascular interventional procedures, these devices are in the early stages of technological research and are not yet fully mature.

[0003] Existing delivery devices typically use two rollers to clamp interventional instruments for rotational delivery. The instrument transmission mechanism and torsion mechanism are both located on the same axis, and the interventional instruments are arranged in a straight line to facilitate rotational delivery. However, this structure leads to a significant increase in the overall axial length of the device, resulting in excessive space occupancy and making it difficult to flexibly place the device within the limited space of the operating room.

[0004] Therefore, existing technologies still need to be improved and developed. Utility Model Content

[0005] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a delivery and rotation device and a transport system for interventional instruments, which aims to solve the problem that the axial length of interventional instruments in the prior art is too long and cannot be flexibly placed in the operating room.

[0006] The technical solution adopted by this utility model to solve the technical problem is as follows:

[0007] A delivery and rotation device for interventional instruments includes a delivery mechanism for delivering the interventional instrument, a torsion mechanism for driving the interventional instrument to rotate, and a transmission mechanism for providing power; the delivery mechanism is detachably connected to the top of the transmission mechanism, and the torsion mechanism is detachably connected to one side of the transmission mechanism.

[0008] The axis of rotation of the torsion mechanism driving the interventional device is set at a preset angle with the direction of delivery mechanism delivering the interventional device, so that the part of the interventional device located between the torsion mechanism and the delivery mechanism is coiled.

[0009] Furthermore, the transmission mechanism also includes a torque control drive component, which cooperates with the torsion mechanism to drive the interventional instrument to rotate;

[0010] The torque control drive component includes a torque control motor disposed inside the transmission mechanism, and the output shaft of the torque control motor is set at a preset angle with the direction in which the delivery mechanism delivers the interventional instrument.

[0011] Furthermore, the torsion mechanism includes a synchronously rotating torque-controlled driven wheel and a torque controller. The torque controller is located on the side of the torque-controlled driven wheel away from the transmission mechanism, and the torque controller is used to fix one end of the interventional device.

[0012] The torque control drive component also includes a torque control drive wheel, which is coaxially mounted on the output shaft of the torque control motor. The torque control driven wheel and the torque control drive wheel are connected by a quick-release connecting shaft or by magnetic coupling to achieve synchronous rotation.

[0013] Furthermore, the torsion mechanism also includes a fixed base, which is detachably connected to the transmission mechanism. The torque controller is rotatably disposed within the fixed base, and a fixing hole is provided at the center of the torque controller for fixing one end of the interventional device.

[0014] Furthermore, the transmission mechanism includes a rotary drive component and a translational drive component, and the delivery mechanism includes a delivery drive wheel and a delivery driven wheel;

[0015] The translation drive component drives the delivery driven wheel to move closer to or away from the delivery drive wheel, thereby clamping or releasing the interventional instrument; the rotation drive component drives the delivery drive wheel to rotate, thereby delivering the instrument.

[0016] Furthermore, the rotary drive component includes a base shell, a drive motor mounted on the base shell, and a transmission drive wheel; the drive motor drives the transmission drive wheel to rotate via a belt, and the transmission drive wheel and the delivery drive wheel are connected by a quick-release connecting shaft or magnetic coupling to achieve synchronous rotation.

[0017] Furthermore, the translation drive component includes a translation drive wheel and a drive assembly, the drive assembly being used to drive the translation drive wheel to translate.

[0018] The delivery mechanism further includes a second slider that is slidably disposed inside the delivery mechanism, and the delivery driven wheel is rotatably connected to the second slider;

[0019] The translation drive wheel and the delivery driven wheel are connected by a quick-release connecting shaft or magnetic coupling to achieve synchronous rotation and movement.

[0020] Furthermore, the output shaft of the torque control motor is located between or on the same side of the drive wheel and the translation drive wheel, and is set at a preset angle with the direction of the line connecting the axes of the drive wheel and the translation drive wheel.

[0021] Furthermore, the preset included angle is 75° to 105° or -15° to 15°.

[0022] Compared with the prior art, the beneficial effects of this utility model are:

[0023] In this invention, a delivery mechanism is detachably mounted on the top of the transmission mechanism for delivering interventional instruments. A torsion mechanism is detachably mounted on one side of the transmission mechanism for driving the interventional instruments to rotate. The axis of rotation of the torsion mechanism is set at a preset angle to the direction in which the delivery mechanism delivers the interventional instruments, so that the portion of the interventional instruments located between the torsion mechanism and the delivery mechanism is coiled. By arranging the axis of the torsion mechanism at a preset angle to the delivery direction of the delivery mechanism, this application enables the interventional instruments to be arranged in a bent configuration, breaking through the limitations of the coaxial linear layout in the prior art. This significantly shortens the axial length of the device, effectively reduces space utilization, and can flexibly adapt to the narrow space of the operating room and the installation requirements of miniaturized equipment. At the same time, this non-coaxial structure can achieve the combined motion of rotation and delivery without extending the instrument path. While ensuring operational functionality, it avoids the complex layout problems caused by long-axis transmission, providing an effective solution for the compact and portable design of vascular interventional instrument delivery devices. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0025] Figure 2 This is a schematic diagram of the transmission mechanism and delivery mechanism of this utility model.

[0026] Figure 3 This is a schematic diagram of the internal structure of the transmission mechanism of this utility model.

[0027] Figure 4 This is a schematic diagram of the internal structure of the delivery mechanism of this utility model.

[0028] Figure 5 This is a schematic diagram of the first structure of the transmission drive wheel and delivery drive wheel of this utility model.

[0029] Figure 6 This is a schematic diagram of a second structure for the transmission drive wheel and delivery drive wheel of this utility model.

[0030] Figure 7 This is a schematic diagram of a third structure for the transmission drive wheel and delivery drive wheel of this utility model.

[0031] Figure 8 This is a schematic diagram of the corresponding magnet structure in the transmission drive wheel and delivery drive wheel of this utility model.

[0032] Figure 9 This is a schematic diagram of the push-pull plate structure of this utility model.

[0033] Figure 10 This is a schematic diagram of the torque-controlled drive wheel structure of this utility model.

[0034] Figure 11 This is a schematic diagram of the fixed base and torque-controlled driven wheel of this utility model.

[0035] Figure 12 This is a schematic diagram of the clamping component structure of this utility model.

[0036] Figure 13 This is a schematic diagram of the fixed base structure of this utility model.

[0037] Figure 14 This is a schematic diagram of the torque control motor structure of this utility model.

[0038] Figure 15 This is a schematic diagram of the structure of the first quick-release connecting shaft and the second quick-release connecting shaft of this utility model.

[0039] Figure 16 This is a schematic diagram of the third quick-release connecting shaft and the torque-controlled electrolysis structure of this utility model.

[0040] Figure 17 This is a schematic diagram of the third quick-release connecting shaft structure of this utility model.

[0041] Figure 18 This is a schematic diagram of the interventional device delivery system of this utility model.

[0042] The numbers in the diagram represent: 1. Delivery rotation device; 11. Transmission mechanism; 111. Rotation drive component; 1111. Bottom shell; 1112. Drive motor; 1113. Drive drive wheel; 1114. First quick-release connecting shaft; 112. Translation drive component; 1121. Translation drive wheel; 1122. Drive assembly; 11221. Push-pull plate; 11222. First slider; 11223. Linear motor; 11224. Second quick-release connecting shaft; 113. Torque control drive component; 1131. Torque control drive wheel; 1132. Torque control motor; 114. First 115. Protrusion; 12. Delivery mechanism; 121. Delivery drive wheel; 122. Delivery driven wheel; 123. Second slider; 124. Fixing shell; 125. Fixing cover; 126. Through groove; 127. Circular hole; 128. Y valve fixing groove; 129. Y valve fixing cover; 13. Torque mechanism; 131. Torque control driven wheel; 132. Torque controller; 133. Fixing seat; 134. Fixing hole; 135. Third quick-release connecting shaft; 14. Clamping component; 141. Slot; 15. Magnetic ring; 151. Magnet; 16. Anti-slip layer; 2. Interventional device. Detailed Implementation

[0043] To make the objectives, technical solutions, and effects of this utility model clearer and more explicit, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0044] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0045] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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 this utility model based on the specific circumstances.

[0046] In view of the shortcomings of the prior art, this embodiment provides a delivery and rotation device and a transport system for interventional instruments, as detailed below:

[0047] First embodiment:

[0048] As attached Figure 1 Appendix Figure 2 and attached Figure 3 As shown, a delivery and rotation device 1 for an interventional device includes a transmission mechanism 11, a delivery mechanism 12, and a translational drive component 112. The transmission mechanism 11 includes a rotational drive component 111 and a translational drive component 112. The delivery mechanism 12 is detachably mounted on the top of the transmission mechanism 11. The delivery mechanism 12 includes a delivery drive wheel 121 and a delivery driven wheel 122. The delivery drive wheel 121 corresponds to the transmission drive wheel 1113 and is magnetically coupled to achieve synchronous rotation. The delivery driven wheel 122 is located on one side of the delivery drive wheel 121 and cooperates with the delivery drive wheel 121 to deliver the interventional device 2. The translational drive component 112 cooperates with the delivery driven wheel 122 to drive the delivery driven wheel 122 to move. The interventional device 2 can be a catheter, a guidewire, or a combination of a catheter and a guidewire.

[0049] A delivery mechanism 12 is located at the top of the transmission mechanism 11. The two can be coupled by magnetic attraction, snap-fit, or tenon joint, employing a double-layer isolation structure to achieve physical separation between the sterile and non-sterile areas. Multiple drive components are housed within the transmission mechanism 11. The delivery drive wheel 121 and delivery driven wheel 122 are arranged side-by-side, with the delivery drive wheel 121 and the transmission drive wheel 1113 corresponding vertically. They achieve air-to-ground transmission through magnetic coupling. The interventional instrument 2 is clamped between the delivery driven wheel 122 and the delivery drive wheel 121. Rotation of the delivery drive wheel 121 allows for the delivery of the interventional instrument 2. The interventional instrument 2 passes through a pre-drilled hole in the side wall of the delivery mechanism 12, precisely fitting into the gap between the delivery drive wheel 121 and the delivery driven wheel 122, forming a stable clamping state.

[0050] Compared to the traditional method where the drive structure directly contacts the delivery device, this solution completely severs the physical connection between the sterile drive mechanism and the sterile interventional device 2 through a contactless design with a double-shell shell and magnetic coupling, avoiding the risk of cross-infection caused by mechanical contact. The modular double-shell structure design allows for the replacement of sterile consumables without disassembling the sterile drive component, significantly reducing maintenance complexity and providing a more reliable technical solution for the safe and accurate delivery of vascular interventional surgical instruments. At the same time, the clamping and releasing of different interventional devices 2 can be achieved by translating the drive component 112, improving the adaptability of the device.

[0051] During installation, a sterile isolation membrane is provided on the surface of the transmission mechanism 11, and then the delivery mechanism 12 is assembled on the transmission mechanism 11. This not only achieves the isolation between sterile and sterile components, but also avoids drilling holes in the transmission mechanism 11, which would affect its use.

[0052] The rotary drive component 111 includes a base shell 1111, a drive motor 1112 mounted on the base shell 1111, and a transmission drive wheel 1113. The drive motor 1112 is connected to the transmission drive wheel 1113 via a transmission assembly, coupling, or conveyor belt to provide a power source for the system. The transmission drive wheel 1113 is rotatably mounted on the base shell 1111 via a connecting shaft and bearings.

[0053] During operation, the drive motor 1112 drives the transmission drive wheel 1113 to rotate at high speed. Based on the principle of magnetic coupling, the magnetic field generated by the transmission drive wheel 1113 drives the delivery drive wheel 121 to rotate synchronously. At this time, in conjunction with the translation drive component 112, the delivery driven wheel 122 can be moved to clamp the interventional instrument 2, and under the action of friction, it is pushed towards the target direction as it rotates with the delivery drive wheel 121. The delivery driven wheel 122 serves as an auxiliary support structure. On the one hand, it forms a clamping force with the delivery drive wheel 121 to ensure stable delivery of the interventional instrument 2. On the other hand, the distance between the two can be adjusted to adapt to interventional instruments 2 of different diameters, achieving precise delivery.

[0054] In other embodiments, the rotary drive component 111 may also be a servo motor disposed inside the delivery mechanism 12. The servo motor cooperates with the delivery drive wheel 121 through a transmission structure and drives the delivery drive wheel 121 to rotate.

[0055] As attached Figure 5 and attached Figure 9 As shown, the outer surfaces of the delivery drive wheel 121 and the delivery driven wheel 122 are provided with an anti-slip layer 16. The anti-slip layer 16 can be a rubber sleeve, a silicone sleeve, or a metal plating layer, etc. Alternatively, the outer surfaces of the delivery drive wheel 121 and the delivery driven wheel 122 can be frosted to increase their surface roughness.

[0056] As attached Figure 3 Appendix Figure 4 and attached Figure 9 As shown, the translation drive component 112 includes a translation drive wheel 1121 and a drive assembly 1122, which drives the translation drive wheel 1121 to translate. The delivery mechanism 12 includes a second slider 123 slidably disposed inside the delivery mechanism 12, and a delivery driven wheel 122 is rotatably connected to the second slider 123. The translation drive wheel 1121 and the delivery driven wheel 122 are magnetically coupled to achieve synchronous rotation and movement.

[0057] The drive assembly 1122 includes a push-pull plate 11221, a first slider 11222, and a linear motor 11223 disposed inside the transmission mechanism 11. The push-pull plate 11221 extends along the line connecting the axes of the delivery drive wheel 121 and the delivery driven wheel 122. The linear motor 11223 is disposed at one end of the push-pull plate 11221 and is used to drive the push-pull plate 11221 to reciprocate along its extension direction. The first slider 11222 is disposed at one end of the push-pull plate 11221 and is rotatably connected to the translation drive wheel 1121.

[0058] The driven wheel 122 is magnetically coupled to the translation drive wheel 1121 to achieve synchronous movement and rotation with the translation drive wheel 1121.

[0059] The drive wheel 1113 is correspondingly arranged with the delivery drive wheel 121, and the translation drive wheel 1121 is correspondingly arranged with the delivery driven wheel 122.

[0060] Based on the original double-shell structure, the device further expands the adjustable transmission structure. A slide rail or groove is provided at the bottom of the transmission mechanism 11. The first slider 11222 is embedded in the slide rail or groove through a dovetail groove or T-slot, achieving horizontal sliding. The translation drive wheel 1121 is vertically fixed to the first slider 11222. Simultaneously, the inner wall of the delivery mechanism 12 is also provided with a slide rail or groove. The second slider 123 slides along the slide rail or groove, and the top of the delivery driven wheel 122 is rotatably connected to the second slider 123 through a deep groove ball bearing or a spherical bearing, forming an adjustable structure with vertical linkage.

[0061] When the drive assembly 1122 is powered on, it moves the first slider 11222, thereby controlling the translation drive wheel 1121 to move closer to or further away from the delivery drive wheel 121. The delivery driven wheel 122, as a magnetic driven component, forms a double-layer magnetic coupling with the translation drive wheel 1121. It can not only synchronously receive rotational power but also, driven by the translation drive wheel 1121, achieve horizontal displacement within the delivery mechanism 12 via the second slider 123. This double-layer magnetic coupling and linear adjustment mechanism allows the interventional instrument 2, held between the delivery drive wheel 121 and the delivery driven wheel 122, to achieve precise rotational delivery and dynamically adjust the delivery path according to surgical needs, thus improving operational flexibility.

[0062] Compared to traditional fixed-structure interventional device delivery devices, this solution, through a composite design of dual magnetic coupling and linear adjustment, not only enables the device to adapt to interventional devices of different diameters, breaking through the limitations of traditional roller-type devices on device specifications, but also, through the contactless magnetic transmission combined with the modular slider design, it not only continues the advantages of sterile isolation, but also solves the technical bottleneck of existing equipment being unable to cope with complex vascular pathways through the dynamic adjustment capability of the mechanical structure, providing a more intelligent and safer device control solution for vascular interventional surgery.

[0063] The top of both the driven wheel 122 and the driving wheel 121 is provided with a first connecting shaft. The first connecting shaft is mounted on the second slider 123 and the delivery mechanism 12 respectively through bearings. The bottom of both the driving wheel 1113 and the translation drive wheel 1121 is provided with a second connecting shaft. The second connecting shaft is mounted on the delivery mechanism 12 and the first slider 11222 respectively through bearings.

[0064] As attached Figure 2 and attached Figure 3 As shown, the delivery and rotation device 1 for the interventional device further includes a torsion mechanism 13, which is detachably connected to one side of the transmission mechanism 11 for fixing one end of the interventional device 2. The transmission mechanism 11 also includes a torque control drive component 113, which cooperates with the torsion mechanism 13 to drive the interventional device 2 to rotate.

[0065] The axis of rotation of the torsion mechanism 13 driving the interventional device 2 is set at a preset angle with the direction of delivery mechanism 12 delivering the interventional device 2, so that the part of the interventional device 2 located between the torsion mechanism 13 and the delivery mechanism 12 is coiled.

[0066] Specifically, the angle between the axis of rotation of the torsion mechanism 13 driving the interventional device 2 and the direction of delivery mechanism 12 delivering the interventional device 2 is 75° to 105° or -15° to 15°.

[0067] As attached Figure 10 As shown, the torque control drive component 113 includes a torque control drive wheel 1131 and a torque control motor 1132; and the torque control drive wheel 1131 is provided on the output shaft of the torque control motor 1132. The torque control drive wheel 1131 is driven to rotate by the torque control motor 1132, and the output shaft of the torque control motor 1132 is set at a preset angle with the direction of the delivery mechanism 12 delivering the interventional device 2.

[0068] As attached Figure 11As shown, the torsion mechanism 13 includes a fixed base 133, a torque controller 132, and a torque-controlled driven wheel 131. The fixed base 133 is detachably disposed on the outside of the transmission mechanism 11. The torque controller 132 is rotatably disposed inside the fixed base 133. A fixing hole 134 is provided in the center of the torque controller 132 for fixing one end of the interventional device 2. The other end of the interventional device 2 is bent and located between the delivery drive wheel 121 and the delivery driven wheel 122. The torque controller 132 is provided with the torque-controlled driven wheel 131 on the side near the torque control motor 1132. The torque-controlled driven wheel 131 and the torque control drive wheel 1131 are magnetically coupled to achieve synchronous rotation of the torque controller 132 and the torque control drive wheel 1131.

[0069] Based on the existing double-layer shell structure, the delivery rotation device 1 of the interventional instrument 2 adds a torque control component. The torque control drive wheel 1131 is connected to the output shaft of the torque control motor 1132 and to the torque control driven wheel 131. The fixing seat 133 is installed on the outside of the transmission mechanism 11 in a detachable manner (such as bolt, magnetic or snap connection). The torque controller 132 has a high-precision fixing hole 134 in the center for tightly clamping the interventional instrument 2. After the interventional instrument 2 is fixed by the fixing hole 134, its middle section is bent in a ring shape, passes through the preset channel of the transmission mechanism 11, and its distal end falls precisely into the clamping area between the delivery drive wheel 121 and the delivery driven wheel 122.

[0070] When the interventional instrument 2 needs to be rotated during surgery, the torque control motor 1132 starts as the power source, driving the torque control drive wheel 1131 to rotate at high speed via a coaxial connection. The torque control drive wheel 1131 transmits torque to the torque controller 132 in the fixed seat 133, causing the interventional instrument 2 in the fixed hole 134 to rotate accordingly. At the same time, the drive motor 1112 inside the transmission mechanism 11 operates synchronously, driving the delivery drive wheel 121 to rotate, and driving the delivery drive wheel 121 and the delivery driven wheel 122 through magnetic coupling, realizing the delivery and rotation of the interventional instrument 2. With the synergistic effect of both ends, the interventional instrument 2 can maintain stable delivery while adjusting the rotation angle and speed in real time according to the needs of the surgery. The torque controller 132 precisely controls the rotation of the interventional instrument 2, and the magnetic transmission ensures the smooth advancement of the instrument, forming a composite motion mode of "delivery + torsion".

[0071] The torque control component of this solution adopts a dual-end independent control method, with the torsion mechanism 13 and the magnetic transmission mechanism 11 each performing their respective functions. This improves the flexibility of instrument operation (such as precise steering in tortuous blood vessels) and avoids the mutual interference between delivery and torsion actions during traditional manual rotation. At the same time, torque transmission is achieved through non-contact magnetic field force. This layout ensures both physical isolation between the torque control drive wheel 1131 and the torque controller 132 and maintains transmission stability through magnetic coupling, avoiding the wear and contamination risks that may be introduced by traditional mechanical connections (such as couplings).

[0072] As attached Figure 10 Appendix Figure 13 and attached Figure 14 As shown, the output shaft of the torque control motor 1132 is located between or on the same side of the transmission drive wheel 1113 and the translation drive wheel 1121, and forms a preset angle with the direction of the line connecting the axes of the delivery drive wheel 121 and the delivery driven wheel 122.

[0073] Specifically, when the output shaft of the torque control motor 1132 is located between the drive wheel 1113 and the translation drive wheel 1121, the angle between the output shaft of the torque control motor 1132 and the direction of the line connecting the axes of the delivery drive wheel 121 and the delivery driven wheel 122 is between 75° and 105°, preferably perpendicular; when the output shaft of the torque control motor 1132 is located on the same side as the drive wheel 1113 and the translation drive wheel 1121, the angle between the output shaft of the torque control motor 1132 and the direction of the line connecting the axes of the delivery drive wheel 121 and the delivery driven wheel 122 is between -15° and 15°, preferably parallel.

[0074] As attached Figure 10 As shown, when the output shaft of the torque control motor 1132 is located between the delivery drive wheel 121 and the translation drive wheel 1121, the torque control drive wheel 1131, with its precise geometric positioning, becomes the core hub for torque transmission. Its axis runs vertically through the horizontal connection line between the delivery drive wheel 121 and the translation drive wheel 1121, ensuring that the various transmission components do not interfere with each other and that space is used efficiently.

[0075] The delivery drive wheel 121 and the translation drive wheel 1121 are arranged in a stepped manner with a gradually decreasing diameter from top to bottom to avoid interference with the torque control drive wheel 1131; at the same time, the overall size of the transmission mechanism 11 can be further reduced.

[0076] Furthermore, the torque controller 132 is located outside the transmission mechanism 11 and corresponds to the torque control drive wheel 1131. At this time, the arrangement direction of the interventional device 2 in the torque controller 132 is the same as the length direction of the torque control motor 1132. The interventional device 2 is arranged between the delivery drive wheel 121 and the delivery driven wheel 122 by bending.

[0077] As attached Figure 14As shown, when the output shaft of the torque control motor 1132 is located on the same side of the transmission drive wheel 1113 and the translation drive wheel 1121, the length direction of the fixed seat 133 and the torque controller 132 is parallel to the connecting line of the transmission drive wheel 1113 and the translation drive wheel 1121. At this time, the length direction of the interventional device 2 is perpendicular to the direction of delivery of the interventional device 2, thereby effectively reducing the size of the overall device. At the same time, the interventional device 2 hangs naturally under the action of gravity, and can remain stable due to its own rigidity, without the need for auxiliary support or a structure to maintain its shape. Furthermore, when the torsion mechanism 13 drives it to rotate, its surrounding layout makes the torque transmission of the interventional device 2 better and the rotation efficiency higher.

[0078] As attached Figure 12 As shown, a clamping member 14 is provided on the side of the delivery mechanism 12 near the torsion mechanism 13. The clamping member 14 is provided with a slot 141 for clamping the interventional device 2.

[0079] Specifically, the clamping member 14 is arranged in an "L" shape, and a slot 141 is provided on the top of the clamping member 14. The opening of the slot 141 faces upward and passes through the clamping member 14 in the conveying direction of the interventional device 2. The width of the slot 141 is greater than or equal to the outer diameter of the interventional device 2.

[0080] In use, the interventional device 2 can be inserted from top to bottom. When the torque controller 132 rotates the interventional device 2, the clamping member 14 can prevent the bent interventional device 2 from twisting into a spiral shape due to torque transmission during rotation. (See attached image) Figure 5 and attached Figure 6 As shown, at least one magnetic ring 15 is provided inside each of the delivery drive wheel 121, the delivery driven wheel 122, and the translation drive wheel 1121;

[0081] The magnetic ring 15 includes a plurality of radially distributed magnets 151, a portion of which are N-pole magnets 151 and another portion are S-pole magnets 151, with the N-pole magnets 151 and the S-pole magnets 151 arranged alternately.

[0082] The N-pole magnets 151 in the two corresponding magnetic wheels correspond to each other, and the S-pole magnets 151 in the two corresponding magnetic wheels also correspond to each other, so as to achieve magnetic coupling between the two rotating shafts.

[0083] Furthermore, the magnet 151 is cylindrical or fan-shaped and is located on one side of the two rotating shafts facing each other.

[0084] When the magnet 151 is cylindrical, multiple cylindrical magnets 151 are arranged radially, which facilitates the processing and installation of the magnet.

[0085] When magnet 151 is fan-shaped, multiple fan-shaped magnets are arranged radially and alternately, which can increase the arrangement area and volume of magnet 151, thereby increasing the magnetic force and transmission torque.

[0086] In other embodiments, as shown in the appendix Figure 7 and attached Figure 8 As shown, the drive wheel 1113 and the translation drive wheel 1121 are annular, and their inner diameters are larger than the outer diameters of the delivery drive wheel 121 and the delivery driven wheel 122. The surface of the transmission mechanism 11 may be provided with two first grooves (not shown in the figure) to form a first protrusion 114 inside the transmission mechanism 11. Both the delivery drive wheel 121 and the delivery driven wheel 122 are located within the first grooves. The top of the drive wheel 1113 and the translation drive wheel 1121 is provided with a first mating groove 115. The first mating groove 115 is fitted onto the first protrusion 114 formed inside the transmission mechanism 11, thus enabling the drive wheel 1113 to be fitted onto the delivery drive wheel 121 and the translation drive wheel 1121 to be fitted onto the delivery driven wheel 122. Isolation and synchronous rotation are achieved by fitting the larger wheel (drive wheel 1113 and translation drive wheel 1121) onto the smaller wheel (delivery drive wheel 121 and delivery driven wheel 122) while ensuring the gap between them.

[0087] Specifically, attached Figure 8 This is a schematic diagram showing the structure of the transmission wheels assembled in corresponding grooves or protrusions. The magnet 151 in the transmission drive wheel 1113 corresponds to the magnet 151 in the delivery drive wheel 121, and the magnet 151 in the translation drive wheel 1121 corresponds to the magnet 151 in the delivery driven wheel 122. When the larger wheel rotates, it shears the magnetic lines of force between the magnets 151 on both wheels. To maintain the magnetic lines of force, the smaller wheel rotates synchronously with the larger wheel, thus achieving torque transmission by magnetic force. The magnet 151 can also be cylindrical, fan-shaped, or other shapes.

[0088] In other embodiments, the surface of the transmission mechanism 11 may also be provided with a second protrusion, and two second grooves are formed at the top inside the transmission mechanism 11; in this case, the transmission drive wheel 1113 and the translation drive wheel 1121 are used as small wheels and located in the second grooves. The bottom of the transmission drive wheel 1113 and the delivery driven wheel 122 are provided with a second mating groove. The second mating groove is sleeved on the second protrusion, so that the delivery drive wheel 121 is sleeved on the transmission drive wheel 1113 and the delivery driven wheel 122 is sleeved on the translation drive wheel 1121.

[0089] In this embodiment, the structure of the torque control drive wheel 1131 and the torque control driven wheel 131 is the same as that of the transmission drive wheel 1113 and the delivery drive wheel 121, and multiple N-pole and S-pole magnets 151 are arranged radially and alternately inside them.

[0090] The drive wheel 1113, delivery drive wheel 121, delivery driven wheel 122, translation drive wheel 1121, torque control drive wheel 1131, and torque control driven wheel 131 are all equipped with magnets 151, all of which are single-pole magnets 151.

[0091] As attached Figure 2 and attached Figure 4 As shown, the delivery mechanism 12 includes a fixed housing 124 and a fixed cover 125 rotatably connected to the fixed housing 124. A through groove 126 is provided in the middle of the fixed housing 124 for accommodating the interventional device 2. The delivery drive wheel 121 and the delivery driven wheel 122 are respectively provided on both sides of the through groove 126. The two ends of the fixed cover 125 (the two ends along the delivery direction of the interventional device 2) are respectively provided with circular holes 127 adapted to the through groove 126. The circular holes 127 are used to pass through the interventional device 2. When the fixed cover 125 is engaged with the fixed housing 124, the circular holes 127 are engaged with the interventional device 2 for limiting the position. The fixed housing 124 is also provided with a Y valve fixing groove 128 for placing a Y valve. A Y valve fixing cover 129125 is rotatably disposed on the fixed housing 124. The Y valve fixing cover 129125 is engaged with the Y valve fixing groove 128 for fixing the Y valve.

[0092] Second embodiment:

[0093] As attached Figure 1 and attached Figure 15 As shown, the interventional device delivery and rotation device 1 includes a transmission mechanism 11, a delivery mechanism 12, and a translation drive component 112. The transmission mechanism 11 includes a rotation drive component 111 and a translation drive component 112. The delivery mechanism 12 is detachably mounted on the top of the transmission mechanism 11. The delivery mechanism 12 includes a delivery drive wheel 121 and a delivery driven wheel 122. The delivery drive wheel 121 corresponds to the transmission drive wheel 1113 and is connected to it via a first quick-release connecting shaft 1114 to achieve synchronous rotation. The delivery driven wheel 122 is located on one side of the delivery drive wheel 121 and cooperates with the delivery drive wheel 121 to deliver the interventional device 2. The translation drive component 112 cooperates with the delivery driven wheel 122 to drive the delivery driven wheel 122 to move.

[0094] A delivery mechanism 12 is provided on the top of the transmission mechanism 11, and the two can be engaged by magnetic attraction, snap-fit, or tenon joint. The driving component is located inside the transmission mechanism 11; the delivery drive wheel 121 and the delivery driven wheel 122 are arranged side-by-side inside the delivery mechanism 12, both on the inner wall of the delivery mechanism 12, with the delivery drive wheel 121 and the transmission drive wheel 1113 corresponding vertically. They are driven by a first quick-release connecting shaft 1114. The interventional instrument 2 is clamped between the delivery driven wheel 122 and the delivery drive wheel 121. Rotation of the delivery drive wheel 121 allows for the delivery of the interventional instrument 2. The interventional instrument 2 passes through a pre-set through hole in the side wall of the delivery mechanism 12, precisely engaging the gap between the delivery drive wheel 121 and the delivery driven wheel 122, forming a stable clamping state.

[0095] The translation drive component 112 includes a translation drive wheel 1121 and a drive assembly 1122, which drives the translation drive wheel 1121 to translate. The delivery mechanism 12 includes a second slider 123 slidably disposed inside the delivery mechanism 12, and a delivery driven wheel 122 is rotatably connected to the second slider 123. The translation drive wheel 1121 and the delivery driven wheel 122 are magnetically coupled to achieve synchronous rotation and movement.

[0096] The drive assembly 1122 includes a push-pull plate 11221, a first slider 11222, and a linear motor 11223 disposed inside the transmission mechanism 11. The push-pull plate 11221 extends along the line connecting the axes of the delivery drive wheel 121 and the delivery driven wheel 122. The linear motor 11223 is disposed at one end of the push-pull plate 11221 and is used to drive the push-pull plate 11221 to reciprocate along its extension direction. The first slider 11222 is disposed at one end of the push-pull plate 11221 and is rotatably connected to the translation drive wheel 1121.

[0097] The delivery driven wheel 122 is connected to the translation drive wheel 1121 via the second quick-release connecting shaft 11224 to achieve synchronous movement and rotation with the translation drive wheel 1121.

[0098] Based on the original double-shell structure, the device further expands the adjustable transmission structure. A slide rail or groove is provided at the bottom of the transmission mechanism 11. The first slider 11222 is embedded in the slide rail or groove through a dovetail groove or T-slot, achieving horizontal sliding. The translation drive wheel 1121 is vertically fixed to the first slider 11222. Simultaneously, the inner wall of the delivery mechanism 12 is also provided with a slide rail or groove. The second slider 123 slides along the slide rail or groove, and the top of the delivery driven wheel 122 is rotatably connected to the second slider 123 through a deep groove ball bearing or a spherical bearing, forming an adjustable structure with vertical linkage.

[0099] When the drive assembly 1122 is powered on, it moves the first slider 11222, thereby controlling the translation drive wheel 1121 to move closer to or further away from the delivery drive wheel 121. The delivery driven wheel 122 is coaxially connected to the translation drive wheel 1121, and can not only receive rotational power synchronously, but also achieve horizontal displacement within the delivery mechanism 12 through the second slider 123 under the drive of the translation drive wheel 1121. This adjustment mechanism allows the interventional instrument 2 to achieve precise rotational delivery under the clamping of the delivery drive wheel 121 and the delivery driven wheel 122, and can also dynamically adjust the delivery path according to surgical needs, improving operational flexibility.

[0100] As attached Figure 1 and attached Figure 16 As shown, the delivery and rotation device 1 of the interventional device also includes a torsion mechanism 13, which is detachably connected to one side of the transmission mechanism 11 for fixing one end of the interventional device 2; the transmission mechanism 11 also includes a torque control drive component 113; the torque control drive component 113 cooperates with the torsion mechanism 13 to drive the interventional device 2 to rotate.

[0101] The torque control drive component 113 includes a torque control drive wheel 1131 and a torque control motor 1132. The torque control motor 1132 is located inside the transmission mechanism 11, and the torque control drive wheel 1131 is provided on the output shaft of the torque control motor 1132. The torque control drive wheel 1131 is driven to rotate by the torque control motor 1132.

[0102] As attached Figure 11 and attached Figure 17 As shown, the torsion mechanism 13 includes a fixed base 133, a torque controller 132, and a torque control driven wheel 131. The fixed base 133 is detachably disposed on the outside of the transmission mechanism 11. The torque controller 132 is rotatably disposed inside the fixed base 133. A fixing hole 134 is provided in the center of the torque controller 132 for fixing one end of the interventional device 2. The other end of the interventional device 2 is bent and located between the delivery drive wheel 121 and the delivery driven wheel 122. The torque control driven wheel 131 is disposed on the side of the torque controller 132 near the torque control motor 1132. The torque control driven wheel 131 and the torque control drive wheel 1131 are connected by a third quick-release connecting shaft 135 to realize the synchronous rotation of the torque controller 132 and the torque control drive wheel 1131.

[0103] Based on the existing double-shell structure, the delivery rotation device 1 of the interventional instrument is equipped with a torque control component. The torque control drive wheel 1131 is connected to the output shaft of the torque control motor 1132 and to the torque control driven wheel 131. The fixing seat 133 is detachably installed on the outside of the transmission mechanism 11 by means of bolts, magnetic attraction or snap-fit ​​connection. The torque controller 132 has a high-precision fixing hole 134 in the center for tightly clamping the interventional instrument 2. After the interventional instrument 2 is fixed by the fixing hole 134, its middle section is bent in a ring shape, passes through the preset channel of the transmission mechanism 11, and its distal end falls precisely into the clamping area between the delivery drive wheel 121 and the delivery driven wheel 122.

[0104] As attached Figure 17 As shown, the third quick-release connecting shaft 135 includes two connecting parts, which are respectively located on the output shafts of the torque controller 132 and the torque control motor 1132. The two connecting parts can be connected by splines or spring clips to achieve a quick connection effect.

[0105] Third embodiment:

[0106] As attached Figure 18 As shown, this application also provides an interventional device delivery system, including multiple interventional device delivery rotating devices 1, which are arranged sequentially to adapt to multiple different interventional devices 2. The interventional device 2 may be a catheter, a guidewire, or a combination of a catheter and a guidewire.

[0107] Other embodiments of the present invention will readily occur to those skilled in the art upon consideration of the specification and practice of the solutions disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the claims.

Claims

1. A delivery and rotation device for interventional instruments, characterized in that, It includes a delivery mechanism for delivering interventional instruments, a torsion mechanism for driving the interventional instruments to rotate, and a transmission mechanism for providing power; the delivery mechanism is detachably connected to the top of the transmission mechanism, and the torsion mechanism is detachably connected to one side of the transmission mechanism; The axis of rotation of the torsion mechanism driving the interventional device is set at a preset angle with the direction of delivery mechanism delivering the interventional device, so that the part of the interventional device located between the torsion mechanism and the delivery mechanism is coiled.

2. The delivery and rotation device for interventional instruments according to claim 1, characterized in that, The transmission mechanism further includes a torque control drive component, which cooperates with the torsion mechanism to drive the interventional instrument to rotate; The torque control drive component includes a torque control motor disposed inside the transmission mechanism, and the output shaft of the torque control motor is set at a preset angle with the direction in which the delivery mechanism delivers the interventional instrument.

3. The delivery and rotation device for interventional instruments according to claim 2, characterized in that, The torsion mechanism includes a synchronously rotating torque-controlled driven wheel and a torque controller. The torque controller is located on the side of the torque-controlled driven wheel away from the transmission mechanism and is used to fix one end of the interventional device. The torque control drive component also includes a torque control drive wheel, which is coaxially mounted on the output shaft of the torque control motor. The torque control driven wheel and the torque control drive wheel are connected by a quick-release connecting shaft or by magnetic coupling to achieve synchronous rotation.

4. The delivery and rotation device for interventional instruments according to claim 3, characterized in that, The torsion mechanism also includes a fixed base, which is detachably connected to the transmission mechanism. The torsion controller is rotatably disposed within the fixed base, and a fixing hole is provided in the center of the torsion controller for fixing one end of the interventional device.

5. The delivery and rotation device for interventional instruments according to claim 2, characterized in that, The transmission mechanism includes a rotary drive component and a translation drive component, and the delivery mechanism includes a delivery drive wheel and a delivery driven wheel; The translation drive component drives the delivery driven wheel to move closer to or away from the delivery drive wheel, thereby clamping or releasing the interventional instrument; the rotation drive component drives the delivery drive wheel to rotate, thereby delivering the instrument.

6. The delivery and rotation device for interventional instruments according to claim 5, characterized in that, The rotary drive component includes a base shell, a drive motor mounted on the base shell, and a transmission drive wheel; the drive motor drives the transmission drive wheel to rotate via a belt, and the transmission drive wheel and the delivery drive wheel are connected by a quick-release connecting shaft or magnetic coupling to achieve synchronous rotation.

7. The delivery and rotation device for interventional instruments according to claim 6, characterized in that, The translation drive component includes a translation drive wheel and a drive assembly, wherein the drive assembly is used to drive the translation drive wheel to translate. The delivery mechanism further includes a second slider that is slidably disposed inside the delivery mechanism, and the delivery driven wheel is rotatably connected to the second slider; The translation drive wheel and the delivery driven wheel are connected by a quick-release connecting shaft or magnetic coupling to achieve synchronous rotation and movement.

8. The delivery and rotation device for interventional instruments according to claim 7, characterized in that, The output shaft of the torque control motor is located between or on the same side of the drive wheel and the translation drive wheel, and is set at a preset angle with the line connecting the axes of the drive wheel and the translation drive wheel.

9. The delivery and rotation device for interventional instruments according to claim 1, characterized in that, The preset included angle is 75° to 105° or -15° to 15°.

10. A delivery system for interventional devices, characterized in that, It includes a plurality of delivery and rotation devices for interventional instruments as described in any one of claims 1-9, wherein the plurality of delivery and rotation devices are arranged sequentially to adapt to a plurality of different interventional instruments.

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