Guidewire Catheter Delivery Device

Abstract

The present invention provides a guidewire catheter transmission device, the device including a guidewire catheter transmission module and a motor driving / force feedback module, the motor driving / force feedback module being operably connected to the guidewire catheter transmission module, a guidewire catheter being mounted on the guidewire catheter transmission module, and the guidewire catheter being driven by the guidewire catheter transmission module so as to be movable back and forth, a force sensor and a motor being mounted within the motor driving / force feedback module, the motor having an output end connected to the guidewire catheter transmission module and one end facing away from the guidewire catheter transmission module being connected to the force sensor, a driving wheel and a driven wheel being mounted within the guidewire catheter transmission module, the driving wheel being connected to an output end of the motor, and the guidewire catheter being mounted between the driving wheel and the driven wheel.

Description

[Technical field]

[0001] The present invention relates to the field of medical devices, and more particularly to guidewire catheter delivery devices. [Background technology]

[0002] ERCP is a very mature endoscopic minimally invasive treatment of biliary and pancreatic diseases, also known as endoscopic retrograde cholangiopancreatography. ERCP can be used to diagnose and treat diseases such as gallstones, biliary obstruction, cholangitis, bile duct tumors, and pancreatic tumors. In the course of surgery, a duodenoscope is inserted into the descending part of the patient's duodenum, a contrast catheter is inserted into the biopsy duct up to the opening of the duodenal papilla, and then contrast is injected, and the specific situation of the pancreatic and biliary duct is observed through the x-ray film to determine whether there is a lesion, and then the corresponding surgery is performed. ERCP surgery has small wounds, short operation time, few complications, and high safety. This type of surgery belongs to minimally invasive surgery, the surgical wound is very small, does not cause much pain to the patient, and the postoperative recovery is fast. However, since the ERCP surgery needs to be completed with the assistance of x-rays, the surgeon must be exposed to x-rays for a long time. In order to improve the working environment of surgeons during surgery, engineering has developed ERCP robots to complete surgery on behalf of doctors, and doctors can control the ERCP robots in an X-ray-free environment through remote control or remote piloting methods to complete surgery. At present, there is no effective and similar technical means on the market.

[0003] At present, all ERCP operations in China are completed by doctors and their teams through manual operations, and during the operation, the operator needs to wear thick and heavy radiation protection suits, and the arm part needs to be exposed to operate, which cannot be protected from radiation, and the operation radiation will cause serious radiation injury to the operator after a long time. In addition, traditional ERCP operations require many operations and assistants, and even a little congestion in the operating room, which is originally not large in space, requires doctors and operators to stand all the time to operate, which causes a large workload and fatigue, which further affects the accuracy of the operation and even causes errors. During the operation, it is difficult for doctors and operators to ensure that their hands do not shake, and displacement may occur after inserting and positioning the human body instruments.

[0004] Patent document CN105664333A discloses a guidewire-catheter transmission device, which includes a guidewire, a catheter, a guidewire transmission system, and a catheter transmission system, wherein the catheter transmission system includes a catheter transmission rail and is movable along the axial direction of the catheter transmission rail, a catheter is fixed to the catheter transmission system, the guidewire transmission system includes a guidewire transmission rail and is movable along the axial direction of the guidewire transmission rail, a guidewire is fixed to the guidewire transmission system, the guidewire transmission rail is fixed to the catheter transmission rail, and the guidewire and the catheter are coaxial.

[0005] Patent document CN110624171A discloses a guidewire catheter transmission device, which includes a guidewire moving clamping mechanism, a guidewire fixed clamping mechanism, a guidewire axial moving mechanism, a catheter transmission clamping mechanism, and a base, in which the guidewire moving clamping mechanism, the guidewire fixed clamping mechanism, the guidewire axial moving mechanism, and the catheter transmission clamping mechanism are arranged in the feed direction along the guidewire axial direction in the base, respectively. Summary of the Invention [Problem to be solved by the invention]

[0006] SUMMARY OF THE PRESENT EMBODIMENT In response to the deficiencies in the prior art, it is an object of the present invention to provide a guidewire catheter delivery device. [Means for solving the problem]

[0007] A guidewire catheter delivery device according to one or more embodiments of the present invention includes a guidewire catheter delivery module and a motor drive and force feedback module, the motor drive and force feedback module is movably connected to the guidewire catheter transmission module, a guidewire catheter is attached to the guidewire catheter transmission module, and the guidewire catheter is driven by the guidewire catheter transmission module so as to be movable back and forth; The motor drive and force feedback module includes a force sensor and a motor. The motor has an output end connected to the guidewire catheter transmission module, and an end of the motor facing away from the guidewire catheter transmission module connected to the force sensor; A driving wheel and a driven wheel are mounted within the guidewire catheter transmission module; The driving wheel is connected to the output end of the motor, and the guidewire catheter is mounted between the driving wheel and the driven wheel.

[0008] Furthermore, the motor drive and force feedback module further includes a motor support frame and a support shaft; The force sensor and the motor are mounted in the motor support frame, an output end of the motor extends from one end of the motor support frame, and the force sensor is mounted on the other end of the motor support frame; The support shaft extends outward from the center of the motor support frame.

[0009] Furthermore, the motor support frame is rotatably connected to the fixed seat via the support shaft and is mounted in the fixed seat, The fixing seat is fixedly connected to the force sensor, When the guidewire catheter moves, the motor receives a reaction force from the guidewire catheter, one end of the motor support frame adjacent to the guidewire catheter transmission module receives the reaction force, and one end of the motor support frame connected to the force sensor receives a force opposite to the reaction force via the support shaft.

[0010] In addition, the guidewire catheter transmission module further includes a body, a flip cover, a driven wheel frame and a base cover; The base cover is attached to the bottom of the main body, and the main body is rotatably connected to the flip cover via a pivot pin, and the main body, the base cover and the flip cover form a cavity; The driven wheel frame, the driving wheel, and the driven wheel are mounted in the hollow portion, The driving wheels are attached to the side surfaces of the driven wheel frame, and the driven wheels are attached inside the driven wheel frame, the driven wheel frame allows the driven wheel to move relative to the drive wheel and the body; When the flip cover is rotated away from the main body via the pivot pin and opened, the guidewire catheter can be attached to the main body; When the flip cover is rotated closed toward the main body via the pivot pin, the flip cover limits movement of the guidewire catheter.

[0011] Furthermore, the driven wheel is rotatably connected to the driven wheel frame, and the driven wheel frame can be moved toward or away from the driving wheel. A driven wheel pressing ball is attached to the driven wheel frame on the side facing away from the drive wheel, and a driven wheel pressing spring is attached between the driven wheel and the driven wheel pressing ball, When the flip cover is closed, the driven wheel frame is pushed by the flip cover and moves toward the driving wheel side, and the driven wheel pressing spring presses the driven wheel toward the driving wheel side.

[0012] Furthermore, a stopper is attached to the side wall of the driven wheel frame, When the driven wheel frame moves away from the driving wheel, the stopper interferes with the main body, and the stopper limits the distance that the driven wheel frame is separated from the driving wheel.

[0013] Furthermore, a boss is provided on the inner wall of the main body on a side adjacent to the drive wheel, and a driven wheel release spring is attached between the stopper and the boss, When the flip cover is opened, the driven wheel frame is moved away from the driving wheel by the driven wheel release spring.

[0014] Furthermore, a buckle is provided on the flip cover and the base cover on a side facing the motor drive and force feedback module, The buckle is engaged with the motor support frame.

[0015] Furthermore, the driven wheel is attached to the driven wheel frame via a bolt and a nut, The driven wheel is rotatable around the bolt, the bolt and the nut are movable relative to the body; A first bearing and a second bearing are mounted between the driving wheel and the main body, and a third bearing is mounted between the driven wheel and the bolt.

[0016] Additionally, the robot uses the guidewire catheter delivery system.

[0017] Preferably, further, the output end of the motor is provided as a D-shape shaft, A D-shaped hole is provided on the side of the drive wheel facing the motor, The D-shaped shaft fits into the D-shaped hole.

[0018] Furthermore, the buckle is connected to a button and is released by pressing the button. [Brief description of the drawings]

[0019] Other characteristics, objects and advantages of the invention will appear more clearly on reading the detailed description given by way of non-limiting examples with reference to the following drawings, in which:

[0020] [Figure 1] FIG. 2 is an exploded view of a guidewire catheter delivery device. [Diagram 2] FIG. 1 is a schematic diagram of a guidewire catheter delivery device. [Diagram 3] FIG. 1 is a front view of a guidewire catheter delivery device. [Figure 4] FIG. 2 is a schematic diagram of a guidewire catheter transmission module. [Diagram 5] FIG. 1 is a cross-sectional view of a guidewire catheter delivery module. [Figure 6] FIG. 1 is a cross-sectional view of a guidewire catheter delivery device. [Figure 7] FIG. 2 is a schematic diagram of the guidewire catheter transmission module after the flip cover is opened. [Figure 8] FIG. 1 is a cross-sectional view of the motor drive and force feedback module. [Figure 9] FIG. 2 is a schematic diagram of a bolt. [Figure 10] FIG. 2 is a schematic diagram of a nut. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] The present invention will be described in detail below with reference to specific examples. The following examples are intended to help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any manner. However, those skilled in the art may make further modifications and improvements without departing from the concept of the present invention. All of these are within the scope of protection of the present invention.

[0022] Example 1 As shown in Figures 1 to 3, a guidewire catheter transmission device that can be used in a robot includes a guidewire catheter transmission module 1 and a motor drive / force feedback module 2, the motor drive / force feedback module 2 is movably connected to the guidewire catheter transmission module 1, a guidewire catheter 3 is attached to the guidewire catheter transmission module 1, and the guidewire catheter 3 is driven by the guidewire catheter transmission module 1 so as to be movable back and forth, a force sensor 202 and a motor 203 are attached within the motor drive / force feedback module 2, an output end of the motor 203 is connected to the guidewire catheter transmission module 1 and one end facing away from the guidewire catheter transmission module 1 is connected to the force sensor 202, a driving wheel 103 and a driven wheel 104 are attached within the guidewire catheter transmission module 1, the driving wheel 103 is connected to the output end of the motor 203, and the guidewire catheter 3 is attached between the driving wheel 103 and the driven wheel 104.

[0023] 6 and 8, the motor driving / force feedback module 2 further includes a motor support frame 201 and a support shaft 204. A force sensor 202 and a motor 203 are mounted in the motor support frame 201. An output end of the motor 203 extends from one end of the motor support frame 201, a force sensor 202 is mounted on the other end of the motor support frame 201, and a support shaft 204 extends outward from the center of the motor support frame 201. The motor support frame 201 is rotatably connected to a fixed seat 205 via the support shaft 204 and mounted in the fixed seat 205. The fixed seat 205 is fixedly connected to the force sensor 202. When the guidewire catheter 3 moves, the motor 203 receives a reaction force from the guidewire catheter 3, and one end of the motor support frame 201 adjacent to the guidewire catheter transmission module 1 receives the reaction force, and one end of the motor support frame 201 connected to the force sensor 202 receives a force opposite to the reaction force via the support shaft 204.

[0024] As shown in FIG. 4 and FIG. 5, the guidewire catheter transmission module 1 further includes a main body 101, a flip cover 102, a driven wheel frame 105 and a base cover 113. The base cover 113 is attached to the bottom of the main body 101. The main body 101 is rotatably connected to the flip cover 102 via an axle pin. The main body 101, the base cover 113 and the flip cover 102 form a cavity. The driven wheel frame 105, the driving wheel 103 and the driven wheel 104 are attached to the side of the driven wheel frame 105. A wheel 103 is attached, and a driven wheel 104 is attached inside the driven wheel frame 105, and the driven wheel frame 105 allows the driven wheel 104 to move relative to the driving wheel 103 and the main body 101, and when the flip cover 102 is rotated away from the main body 101 via the pivot pin to open, the guidewire catheter 3 can be attached to the main body 101, and when the flip cover 102 is rotated toward the main body 101 via the pivot pin to close, the flip cover 102 restricts the movement of the guidewire catheter 3. The driven wheel 104 is rotatably connected to the driven wheel frame 105, allowing the driven wheel frame 105 to move closer to or away from the driving wheel 103. A driven wheel push ball 107 is attached to the side of the driven wheel frame 105 facing away from the driving wheel 103, and a driven wheel push spring 115 is attached between the driven wheel 104 and the driven wheel push ball 107. When the flip cover 102 is closed, the driven wheel frame 105 is pushed by the flip cover 102 to move toward the driving wheel 103, and the driven wheel push spring 115 presses the driven wheel 104 toward the driving wheel 103. A stopper 114 is attached to the side wall of the driven wheel frame 105, and when the driven wheel frame 105 moves away from the driving wheel 103, the stopper 114 interferes with the main body 101, and the stopper 114 limits the distance that the driven wheel frame 105 is separated from the driving wheel 103. A boss is provided on the side of the inner wall of the main body 101 that is close to the driving wheel 103, and a driven wheel release spring 106 is attached between the stopper 114 and the boss, and when the flip cover 102 is opened, the driven wheel frame 105 moves away from the driving wheel 103 due to the driven wheel release spring 106.

[0025] As shown in Figures 7, 9 and 10, a buckle is provided on the side of the flip cover 102 and the base cover 113 facing the motor drive·force feedback module 2, and the buckle is engaged with the motor support frame 201. The driven wheel 104 is attached to the driven wheel frame 105 via a bolt 108 and a nut 109, and the driven wheel 104 can rotate around the bolt 108, and the bolt 108 and the nut 109 can move relative to the main body (101). A first bearing 110 and a second bearing 111 are attached between the driving wheel 103 and the main body 101, and a third bearing 112 is attached between the driven wheel 104 and the bolt 108.

[0026] Example 2 As shown in Figs. 1 to 3, this embodiment includes a guidewire catheter transmission module 1 and a motor drive / force feedback module 2, the guidewire catheter transmission module 1 is mounted on the motor drive / force feedback module 2 and driven by the motor drive / force feedback module 2, a driving wheel 103 and a driven wheel 104 are mounted in the guidewire catheter transmission module 1, a force sensor 202 and a motor 203 are mounted in the motor drive / force feedback module 2, and an output end of the motor 203 is connected to the driving wheel 103 in a transmissible manner. When the guidewire catheter 3 is pressed and moved, the driving wheel 103 and the driven wheel 104 rotate to drive the guidewire catheter 3 to move, the guidewire catheter 3 applies a reaction force to the driving wheel 103 and the motor 203, the motor support frame 201 forms a lever with the support shaft 204, and the force sensor 202 generates a tensile force signal opposite to the force received by the motor 203.

[0027] As shown in Figures 4 and 5, the guidewire catheter transmission module 1 includes a main body 101, a flip cover 102, a driving wheel 103, a driven wheel 104, a driven wheel frame 105, a driven wheel release spring 106, a driven wheel pressing ball 107, a bolt 108, a nut 109, a first bearing 110, a second bearing 111, a third bearing 112 and a base cover 13. After the main body 101 and the flip cover 102 are connected via an axle pin, the flip cover 102 can be opened, and the guidewire catheter 3 can be easily positioned or moved. The driving wheel 103 is fixed to the main body 101 by the first bearing 110 and the second bearing 111, and the driven wheel 104 is fixed to the driven wheel frame 105 by the third bearing 112, the bolt 108 and the nut 109.

[0028] As shown in FIGS. 6 to 10, the driven wheel release spring 106 and the driven wheel pressing ball 107 are fixed to the driven wheel frame 105. The driven wheel pressing ball 107 is attached to the side of the driven wheel frame 105 facing away from the driving wheel 103. A driven wheel pressing spring 115 is attached between the driven wheel 104 and the driven wheel pressing ball 107. A boss is provided on the side of the inner wall of the main body 101 close to the driving wheel 103. The driven wheel release spring 106 is attached between the stopper 114 and the boss. A stopper 114 is attached to the side wall of the base cover 113, and when the driven wheel frame 105 moves away from the driving wheel 103, the stopper 114 interferes with the main body 101, and the stopper 114 limits the distance the driven wheel frame 105 is moved away from the driving wheel 103.The driven wheel release spring 106 and the driven wheel pressing spring 115 can press or release the driven wheel 104 against the guidewire catheter 3, and the base cover 113 and the main body 101 are fixedly connected.

[0029] The force sensor 202 and the motor 203 are fixed to the motor support frame 201, and the side of the motor support frame 201 has two support shafts 204 that can be rotatably mounted on the fixed seat 205. The guidewire catheter transmission module 1 is fixed to the motor driving and force feedback module 2 by a buckle, and the entire guidewire catheter transmission module 1 can be loosened by pressing one of the buckles, and the flip cover 102 can be fixed to the motor driving and force feedback module 2 by a buckle or loosened by a button, and the D-shaped shaft of the motor 203 engages with the D-shaped hole in the driving wheel 103, and after being connected, the motor 203 can be driven to rotate the driving wheel 103. The flip cover 102 can be opened and closed at any time and can be used simultaneously for positioning and attaching and detaching the guidewire catheter 3, and when the flip cover 102 is closed, the up and down movement of the guidewire catheter 3 is restricted, and when the flip cover 102 is opened, the guidewire catheter 3 can be inserted and removed from the top. When the flip cover 102 is opened, the internal driven wheel release spring 106 pushes the driven wheel 104 out, the guidewire catheter 3 is released, and when the flip cover 102 is closed, the external driven wheel pressing spring 115 presses the driven wheel 104, so that the guidewire catheter 3 is clamped, and finally the motor 203 can drive the forward or backward operation of the guidewire catheter 3. The driven wheel frame 105 and the driven wheel 104 can move in parallel within the body 101 after being assembled by the bolt 108 and the nut 109. When the guidewire catheter 3 advances or retreats, the motor support frame 201 tends to swing, which generates a tensile force or pressure on the force sensor 202 mounted at the bottom, and one end of the force sensor 202 at the bottom is connected to the motor support frame 201 and the other end is connected to the fixed seat 205, which ensures the generation of the tensile force or pressure.

[0030] Those skilled in the art will understand that in addition to realizing the system according to the present invention and each of its devices, modules, and units in the form of pure computer-readable program code, the system according to the present invention and each of its devices, modules, and units can be made to realize the same functions in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. by logically programming the steps of the method. Therefore, the system according to the present invention and each of its devices, modules, and units can be considered as hardware components, and the devices, modules, and units for realizing various functions contained therein can also be considered as structures within the hardware components, and the devices, modules, and units for realizing various functions can also be considered as software modules for realizing a method, or as structures within the hardware components.

[0031] In the description of this application, the orientations or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the orientations or positional relationships shown in the drawings and are merely for the purpose of facilitating and simplifying the description of this application, and are not to be understood as limiting the application, as they do not indicate or suggest that the devices or parts shown have a particular orientation and must be configured and operated in a particular orientation.

[0032] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention can be used in interventional surgery robots, which can avoid surgical radiation, improve surgical safety, and has practicality; 2. The present invention realizes the transmission of guidewire catheter, which has high stability; 3. The device has a compact structure and saves space.

[0033] The above is a detailed description of specific examples of the present invention. Note that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various changes or modifications within the scope of the claims, without affecting the gist of the present invention. The examples and features of the examples in this application may be combined with each other as long as they are not inconsistent. [Explanation of symbols]

[0034] 1 Guidewire Catheter Delivery Module 101 Main unit 102 Flip Cover 103 Drive Wheel 104 Driven Wheel 105 Driven wheel frame 106 Driven wheel release spring 107 Driven wheel push ball 108 Volts 109 Nut 110 First bearing 111 Second bearing 112 3rd bearing 113 Base cover 114 Stopper 115 Driven wheel pressure spring 2 Motor drive and force feedback module 201 Motor support frame 202 Force Sensor 203 Motor 204 Support shaft 205 Fixed seat 3 Guidewire Catheter

Claims

1. The device includes a guidewire catheter transmission module (1) and a motor drive and force feedback module (2), the motor drive / force feedback module (2) is connected to the guidewire catheter transmission module (1) in a rotatable manner, a guidewire catheter (3) is attached to the guidewire catheter transmission module (1), and the guidewire catheter (3) is driven by the guidewire catheter transmission module (1) so as to be movable back and forth; A force sensor (202) and a motor (203) are mounted in the motor drive and force feedback module (2); The motor (203) has an output end connected to the guidewire catheter transmission module (1), and one end facing away from the guidewire catheter transmission module (1) is connected to the force sensor (202); A driving wheel (103) and a driven wheel (104) are mounted in the guidewire catheter transmission module (1); The drive wheel (103) is connected to the output end of the motor (203); The guidewire catheter (3) is mounted between the driving wheel (103) and the driven wheel (104). A guidewire catheter delivery device.

2. The motor drive and force feedback module (2) further includes a motor support frame (201) and a support shaft (204); The force sensor (202) and the motor (203) are mounted in the motor support frame (201); The output end of the motor (203) extends from one end of the motor support frame (201); The force sensor (202) is attached to the other end of the motor support frame (201); The support shaft (204) extends outward from the center of the motor support frame (201).

2. The guidewire catheter delivery device of claim 1.

3. The motor support frame (201) is rotatably connected to a fixed seat (205) via the support shaft (204) and is mounted in the fixed seat (205); The fixed seat (205) is fixedly connected to the force sensor (202); When the guidewire catheter (3) moves, the motor (203) receives a reaction force from the guidewire catheter (3), one end of the motor support frame (201) adjacent to the guidewire catheter transmission module (1) receives the reaction force, and one end of the motor support frame (201) connected to the force sensor (202) receives a force opposite to the reaction force via the support shaft (204).

3. A guidewire catheter delivery system as claimed in claim 2.

4. The guidewire catheter transmission module (1) further includes a body (101), a flip cover (102), a driven wheel frame (105) and a base cover (113); The base cover (113) is attached to the bottom of the main body (101), and the main body (101) is rotatably connected to the flip cover (102) via a pivot pin, and the main body (101), the base cover (113) and the flip cover (102) form a cavity. The driven wheel frame (105), the driving wheel (103) and the driven wheel (104) are mounted in the hollow portion, The driving wheel (103) is attached to the side of the driven wheel frame (105), The driven wheel (104) is mounted inside the driven wheel frame (105), The driven wheel frame (105) allows the driven wheel (104) to move relative to the drive wheel (103) and the body (101); When the flip cover (102) is rotated to the opposite side to the main body (101) via the pivot pin and opened, the guidewire catheter (3) can be attached to the main body (101); When the flip cover (102) is rotated toward the main body (101) via the pivot pin and closed, the flip cover (102) limits the movement of the guidewire catheter (3).

3. A guidewire catheter delivery system as claimed in claim 2.

5. The driven wheel (104) is rotatably connected to the driven wheel frame (105) and allows the driven wheel frame (105) to move closer to or farther away from the driving wheel (103); A driven wheel push ball (107) is attached to the driven wheel frame (105) on the side facing away from the driving wheel (103), A driven wheel pressing spring (115) is installed between the driven wheel (104) and the driven wheel pressing ball (107). When the flip cover (102) is closed, the driven wheel frame (105) is pushed by the flip cover (102) and moves toward the driving wheel (103), and the driven wheel pressing spring (115) presses the driven wheel (104) toward the driving wheel (103).

5. A guidewire catheter delivery system as claimed in claim 4.

6. A stopper (114) is attached to the side wall of the driven wheel frame (105), When the driven wheel frame (105) moves away from the driving wheel (103), the stopper (114) interferes with the main body (101), and the driven wheel frame (105) limits the distance separated from the driving wheel (103) by the stopper (114).

5. A guidewire catheter delivery system as claimed in claim 4.

7. A boss is provided on the inner wall of the main body (101) on the side adjacent to the drive wheel (103), A driven wheel release spring (106) is installed between the stopper (114) and the boss, When the flip cover (102) is opened, the driven wheel frame (105) moves away from the driving wheel (103) by the driven wheel release spring (106).

7. A guidewire catheter delivery system as claimed in claim 6.

8. The flip cover (102) and the base cover (113) are provided with buckles on the sides facing the motor drive and force feedback module (2); The buckle is engaged with the motor support frame (201).

5. A guidewire catheter delivery system as claimed in claim 4.

9. The driven wheel (104) is attached to the driven wheel frame (105) via a bolt (108) and a nut (109); The driven wheel (104) is rotatable about the bolt (108); The bolt (108) and the nut (109) are movable relative to the body (101); A first bearing (110) and a second bearing (111) are mounted between the drive wheel (103) and the main body (101); A third bearing (112) is mounted between the driven wheel (104) and the bolt (108).

5. A guidewire catheter delivery system as claimed in claim 4.

10. A guidewire catheter delivery device according to any one of claims 1 to 9 is used. A robot characterized by:

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