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, also known as endoscopic retrograde cholangiopancreatography (ERCP), is a mature, minimally invasive endoscopic treatment for biliary and pancreatic diseases. ERCP can be used to diagnose and treat diseases such as gallstones, biliary obstruction, cholangitis, bile duct tumors, and pancreatic tumors. During the procedure, a duodenoscope is inserted into the patient's descending duodenum, a contrast catheter is inserted into the biopsy tract up to the opening of the duodenal papilla, contrast medium is then injected, and the specific condition of the pancreatic and biliary ducts is observed through X-ray film to determine whether a lesion is present and then the appropriate surgery is performed. ERCP surgery involves small incisions, short surgical time, few complications, and high safety. This type of surgery is considered minimally invasive, resulting in a very small surgical incision, minimal pain for the patient, and rapid postoperative recovery. However, because ERCP surgery must be completed with the aid of X-rays, surgeons must be exposed to X-rays for extended periods. In order to improve the working environment of surgeons during surgery, engineers have developed ERCP surgical robots to complete the surgery on behalf of doctors, who can control the ERCP surgical robots in an X-ray-free environment through remote control or remote piloting. Currently, there are no effective and similar technical means on the market.

[0003] Currently, all ERCP procedures in China are completed manually by doctors and their teams. During surgery, the doctors must wear thick, heavy radiation protection suits and operate with their arms exposed, which means they cannot be protected from radiation. Over time, the surgical radiation can cause serious radiation damage to the doctors. Furthermore, traditional ERCP procedures require many operators and assistants, which can cause congestion in the operating room, which is already limited in space, and require doctors and doctors to stand for long periods of time, resulting in heavy workloads, fatigue, and further impacting the accuracy of surgery and leading to errors. During surgery, it is difficult for doctors and doctors to ensure their hands remain steady, which can lead to misalignment after inserting and positioning the 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, the 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, the guidewire is fixed to the guidewire transmission system, and 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 and clamping mechanism, a guidewire fixed and clamping mechanism, a guidewire axial direction moving mechanism, a catheter transmission and clamping mechanism, and a base, and in the base, the guidewire moving and clamping mechanism, the guidewire fixed and clamping mechanism, the guidewire axial direction moving mechanism, and the catheter transmission and clamping mechanism are respectively arranged in the feed direction along the guidewire axis. Summary of the Invention [Problem to be solved by the invention]

[0006] SUMMARY OF THE INVENTION 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 connected to the guidewire catheter transmission module in a transmissible manner, 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 / force feedback module is equipped with a force sensor and a motor, an output end of the motor is connected to the guidewire catheter transmission module, and an end of the motor facing away from the guidewire catheter transmission module is 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 within the fixed seat, the fixed 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] Furthermore, the guidewire catheter transmission module further includes a main body, a flip cover, a driven wheel frame, and a base cover; the base cover is attached to the bottom of the main body, 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 drive 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 main 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 toward the main body via the pivot pin and closed, the flip cover restricts 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 closer to or farther 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 drive wheel, the stopper interferes with the main body, and the stopper limits the distance that the driven wheel frame is separated from the drive wheel.

[0013] Furthermore, a boss is provided on the inner wall of the main body on a side close 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, buckles are provided on the flip cover and the base cover on the 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 device.

[0017] Preferably, the output end of the motor is provided as a D-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 explanation of the drawings]

[0019] Other characteristics, objects and advantages of the invention will become more apparent on reading the detailed description given below of non-limiting examples with reference to the drawings in which:

[0020] [Figure 1] FIG. 1 is an exploded view of a guidewire catheter delivery device. [Figure 2] 1 is a schematic diagram of a guidewire catheter delivery device. FIG. [Figure 3] FIG. 1 is a front view of a guidewire catheter delivery device. [Figure 4] FIG. 1 is a schematic diagram of a guidewire catheter transmission module. [Figure 5] FIG. 1 is a cross-sectional view of a guidewire catheter delivery module. [Figure 6] 1 is a cross-sectional view of a guidewire catheter delivery device. [Figure 7] FIG. 1 is a schematic diagram of the guidewire catheter transmission module after the flip cover is opened. [Figure 8] 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 INVENTION

[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 way. 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 connected to the guidewire catheter transmission module 1 in a transmissive 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 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. The output end of the motor 203 extends from one end of the motor support frame 201, the 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 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, 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 Figures 4 and 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, and the main body 101 is rotatably connected to the flip cover 102 via a shaft pin. The main body 101, the base cover 113, and the flip cover 102 form a cavity, and 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. The driven wheel frame 105 allows the driven wheel 104 to move relative to the drive wheel 103 and the main body 101. When the flip cover 102 is rotated away from the main body 101 via the pivot pin and opened, the guide wire catheter 3 can be attached to the main body 101. When the flip cover 102 is rotated towards the main body 101 via the pivot pin and closed, the flip cover 102 restricts the movement of the guide wire 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 farther away from the drive wheel 103. A driven wheel push ball 107 is attached to the side of the driven wheel frame 105 facing away from the drive 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 and moves toward the drive wheel 103, and the driven wheel push spring 115 presses the driven wheel 104 toward the drive 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 drive 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 drive wheel 103. A boss is provided on the inner wall of the main body 101 on the side close to the drive 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 drive wheel 103 due to the driven wheel release spring 106.

[0025] As shown in Figures 7, 9 and 10, buckles are provided on the flip cover 102 and the base cover 113 on the side facing the motor drive / force feedback module 2, and the buckles are 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 is rotatable around the bolt 108, and the bolt 108 and the nut 109 are movable 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 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 and driven by the motor drive / force feedback module 2. A driving wheel 103 and a driven wheel 104 are mounted within the guidewire catheter transmission module 1. A force sensor 202 and a motor 203 are mounted within the motor drive / force feedback module 2. The output end of the motor 203 is operably connected to the driving wheel 103. When the guidewire catheter 3 is pushed and moved, the driving wheel 103 and the driven wheel 104 rotate, driving 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 push 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 a shaft pin, the flip cover 102 can be opened, and the guidewire catheter 3 can be easily positioned or removed. 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 drive 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 drive wheel 103, and the driven wheel release spring 106 is attached between the stopper 114 and the boss, and the driven wheel frame 105 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 drive wheel 103, the stopper 114 interferes with the main body 101, and the stopper 114 limits the distance the driven wheel frame 105 is separated from the drive 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 motor 203 are fixed to a motor support frame 201, which has two support shafts 204 on its side that can be rotatably mounted on fixing seats 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. The flip cover 102 can be fixed to the motor driving and force feedback module 2 by a buckle or loosened by a button. The D-shaped shaft of the motor 203 engages with a D-shaped hole in the drive wheel 103. After connection, the motor 203 can be driven to rotate the drive wheel 103. The flip cover 102 can be opened and closed at any time and can be used simultaneously to position and attach / detach the guidewire catheter 3. When the flip cover 102 is closed, the guidewire catheter 3 is restricted from moving up and down, and when the flip cover 102 is opened, the guidewire catheter 3 can be inserted and removed from above. When the flip cover 102 is opened, the internal driven wheel release spring 106 pushes the driven wheel 104 out, releasing the guidewire catheter 3. When the flip cover 102 is closed, the external driven wheel pressing spring 115 presses the driven wheel 104, clamping the guidewire catheter 3, 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 are assembled with a bolt 108 and a nut 109 and can move parallel within the main body 101. When the guidewire catheter 3 advances or retreats, the motor support frame 201 tends to swing, generating a tensile force or pressure on the force sensor 202 mounted at the bottom. 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, ensuring 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 its respective devices, modules, and units in the form of pure computer-readable program code, the system according to the present invention and its respective devices, modules, and units can also 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 method steps. Therefore, the system according to the present invention and its respective devices, modules, and units can be considered as hardware components, and the devices, modules, and units included therein for realizing various functions 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, orientations or positional relationships indicated by terms such as "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," and "outside" are based on the orientations or positional relationships shown in the drawings and are intended merely to facilitate and simplify the description of this application, and are not intended to indicate or suggest that the devices or components shown have a particular orientation and must be configured and operated in a particular orientation, and should not be understood as limiting this application.

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

[0033] The specific examples of the present invention have been described above. However, 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 Transmission 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 Third 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 and force feedback module (2) is connected to the guidewire catheter transmission module (1) in a manner that allows transmission of force, and 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; The motor drive and force feedback module (2) includes a force sensor (202), a motor structure provided with a long motor (203), and a cylindrical fixed seat (205); The fixing seat (205) is provided so that one end faces the guidewire catheter transmission module (1); The motor structure is housed on the inner circumferential side of the fixed seat (205), and is hingedly connected to the circumferential wall of the fixed seat (205); The force sensor (202) is fixed to the inner circumferential side of the fixed seat (205), The motor (203) has one end facing away from the guidewire catheter transmission module (1) connected to the force sensor (202), and the other end, which is an output end, connected to the guidewire catheter transmission module (1); 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) so as to abut against the output end of the motor (203); The guidewire catheter (3) is mounted between the driving wheel (103) and the driven wheel (104), and is capable of contacting both the driving wheel (103) and the driven wheel (104). A guidewire catheter delivery device.

2. The motor structure includes a motor support frame (201) and a support shaft (204), The force sensor (202) and the motor (203) are mounted on 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 mounted in the fixed seat (205) so as to be hingedly connected to the fixed seat (205) via the support shaft (204); When the guidewire catheter (3) moves, the motor (203) receives a reaction force from the guidewire catheter (3) and rotates relative to the fixed seat (205), and the force sensor (202) generates a tensile force signal according to the rotation of the motor (203) relative to the fixed seat (205).

3. The guidewire catheter delivery device of claim 2.

4. 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), 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 of 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) restricts movement of the guidewire catheter (3).

3. The guidewire catheter delivery device of claim 2.

5. The driven wheel (104) is rotatably connected to the driven wheel frame (105), allowing 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. The guidewire catheter delivery device of 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 away from the driving wheel (103) by the stopper (114).

5. The guidewire catheter delivery device of claim 4.

7. A boss is provided on the inner wall of the main body (101) on the side close 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. The guidewire catheter delivery device of 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. The guidewire catheter delivery device of 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 around 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. The guidewire catheter delivery device of 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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